Methods and systems for robotic-assisted insertion of medical fasteners

ABSTRACT

Methods and systems of placing a medical fastener at a predetermined depth in a bone are described. A surgical tool can include an attachment assembly configured to interchangeably engage a medical fastener and a cutting element or bone removal tool and a drive assembly coupled to the attachment assembly. The attachment assembly can be configured to automatically release the medical fastener in response to the drive assembly reaching its end or distal-most position to place the medical fastener at a predetermined depth within the bone.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a U.S. national stage filing under 35 U.S.C. § 371 of International Patent Application No. PCT/US2021/017849, filed Feb. 12, 2021, titled METHODS AND SYSTEMS FOR ROBOTIC-ASSISTED INSERTION OF MEDICAL FASTENERS, which claims priority to U.S. Provisional Patent Application No. 62/975,893, filed Feb. 13, 2020, titled METHODS AND SYSTEMS FOR ROBOTIC-ASSISTED INSERTION OF MEDICAL FASTENERS, which is hereby incorporated by reference herein in in its entirety.

TECHNICAL FIELD

The present disclosure relates generally to methods, systems, and apparatuses related to a computer-assisted surgical system that includes various hardware and software components that work together to enhance surgical workflows. The disclosed techniques may be applied to, for example, shoulder, hip, and knee arthroplasties, as well as other surgical interventions such as arthroscopic procedures, spinal procedures, maxillofacial procedures, rotator cuff procedures, ligament repair and replacement procedures.

BACKGROUND

There is a general desire across the healthcare system to reduce cost, ensure patients' safety, and improve clinical outcomes. One way to accomplish these goals is by improving surgical instruments so that they provide more consistent, repeatable results. For example, orthopedic surgeons often have to use Kirschner wires, pins, and other medical fasteners during a surgical procedure, as dictated by the particular type of surgical procedure being performed and the type of surgical navigation system being used. One use of such medical fasteners is to affix marker devices to bones. The marker devices are then identified by the surgical navigation system to track the movement of the bones throughout the procedure. Another use of such medical fasteners is to affix cut guides or jigs to bones for guiding saws or drills. Surgeons using conventional surgical navigation systems are generally required to position a guide as dictated by the navigation system and then drill though the guide to place the fastener. Some surgical systems may use robotic assistance to place the drill guide, whereas others may be purely navigated by the surgeon. Regardless of whether the surgical system uses robotic assistance and the ultimate use for the affixed fasteners, surgeons have to use multiple different tools and perform multiple different steps to place the fasteners, which can be an inefficient process.

Another way to accomplish the goals of reducing cost, ensuring patients' safety, and improving clinical outcomes is to automate one or multiple steps of the surgical procedure. Regardless of the rigorousness of the surgical workflow being followed by surgeons and the surgeons' experience, human error remains a key driver in surgical procedure variability. In particular, the selection and implantation of an endoprosthesis is complex and challenging for even the most experienced surgeons. Successful clinical outcomes are highly dependent on the skills of the surgeon and, as in any field, skill levels vary significantly from person to person. Accordingly, automated robotic surgical systems that are able to remove or reduce human variability on the performance of the procedure could provide more consistent and safe clinical outcomes for patients.

Therefore, there is a need in the field for systems and devices that allow for more efficient placement of medical fasteners in order to reduce the number of potential error points within each surgical procedure and the number of different devices that surgeons are required to deploy.

SUMMARY

There are provided surgical instruments, methods, and systems that are able to both place medical fasteners and drive bone removal tools. There are also provided surgical instruments, methods, and systems that are able to automatically place medical fasteners at a desired depth. There are still also provided robotic surgical systems that are adapted to place medical fasteners in an automated fashion.

In some embodiments, there is provided a surgical tool comprising an attachment assembly comprising: a collet configured to interchangeably receive a medical fastener or a bone removal tool therein, a sleeve slidable relative to the collet between a first configuration and a second configuration, the sleeve comprising a sleeve recess, a biasing member configured to bias the sleeve towards the first configuration, and a detent residing within the sleeve recess, wherein insertion of the medical fastener or the bone removal tool into the collet causes the detent to move into and at least partially occupy a corresponding recess of the medical fastener or the bone removal tool, wherein in the first configuration the sleeve bears against the detent, thereby causing the detent to maintain its position within the corresponding recess of the medical fastener or the bone removal tool and constraining axial movement of the medical fastener or the bone removal tool; a rotational actuator configured to rotationally drive the attachment assembly; a stop; and an axial actuator configured to axially drive the attachment assembly between a first position and a second position, wherein as the attachment assembly approaches the second position as driven by the axial actuator, the sleeve contacts the stop, thereby causing the sleeve to slide relative to the collet to the second configuration, thereby causing the detent to move radially into the sleeve recess and vacate the corresponding recess of the medical fastener, thereby releasing the medical fastener at a predetermined depth corresponding to the second position.

In some embodiments, there is provided a surgical system comprising: a surgical navigation system; and a surgical tool comprising: a tracking array configured to be detected by the surgical navigation system and an attachment assembly comprising: a collet configured to interchangeably receive a medical fastener or a bone removal tool therein, a sleeve slidable relative to the collet between a first configuration and a second configuration, the sleeve comprising a sleeve recess, a biasing member configured to bias the sleeve towards the first configuration, and a detent residing within the sleeve recess, wherein insertion of the medical fastener or the bone removal tool into the collet causes the detent to move into and at least partially occupy a corresponding recess of the medical fastener or the bone removal tool, wherein in the first configuration the sleeve bears against the detent, thereby causing the detent to maintain its position within the corresponding recess of the medical fastener or the bone removal tool and constraining axial movement of the medical fastener or the bone removal tool; a rotational actuator configured to rotationally drive the attachment assembly; a stop; and an axial actuator configured to axially drive the attachment assembly between a first position and a second position, wherein as the attachment assembly approaches the second position as driven by the axial actuator, the sleeve contacts the stop, thereby causing the sleeve to slide relative to the collet to the second configuration, thereby causing the detent to move radially into the sleeve recess and vacate the corresponding recess of the medical fastener, thereby releasing the medical fastener at a predetermined depth corresponding to the second position.

In some embodiments, the detent comprises a ball bearing.

In some embodiments, the surgical tool further comprises a barrel and a magazine well that is configured to engage with a medical fastener magazine, the medical fastener magazine configured to reload one of a plurality of medical fasteners into the barrel upon the medical fastener being released from the surgical tool when the attachment assembly is in the second configuration.

In some embodiments, the bone removal tool comprises a burr.

In some embodiments, the actuator is selected from the group consisting of a motor, a hydraulic actuator, a screw-type actuator, a rack and pinion assembly, and a piezoelectric actuator.

In some embodiments, the surgical system further comprises a medical fastener caddy comprising: a plurality of medical fasteners, and one or more trackers configured to be detected by the surgical navigation system.

In some embodiments, the surgical system further comprises a robotic arm configured to manipulate the surgical tool, wherein the robotic arm is configured to be controlled to cause the surgical instrument to be selectively engaged with one of the plurality of medical fasteners in the medical fastener caddy.

In some embodiments, there is provided a method for positioning and placing a medical fastener in a bone. The method includes (i) tracking, using a surgical navigation system, a surgical tool comprising an attachment assembly configured to interchangeably engage a medical fastener and a bone removal tool; (ii) positioning, using the surgical navigation system, the surgical tool to a pose relative to the bone; (iii) implanting, using the surgical tool, the medical fastener at the pose relative to the bone to a predetermined depth; and (iv) automatically disengaging the medical fastener from the surgical tool at the predetermined depth.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and form a part of the specification, illustrate the embodiments of the invention and together with the written description serve to explain the principles, characteristics, and features of the invention. In the drawings:

FIG. 1 depicts an operating theatre including an illustrative computer-assisted surgical system (CASS) in accordance with an embodiment.

FIG. 2 depicts an example of an electromagnetic sensor device according to some embodiments.

FIG. 3A depicts an alternative example of an electromagnetic sensor device, with three perpendicular coils, according to some embodiments.

FIG. 3B depicts an alternative example of an electromagnetic sensor device, with two nonparallel, affixed coils, according to some embodiments.

FIG. 3C depicts an alternative example of an electromagnetic sensor device, with two nonparallel, separate coils, according to some embodiments.

FIG. 4 depicts an example of electromagnetic sensor devices and a patient bone according to some embodiments.

FIG. 5A depicts illustrative control instructions that a surgical computer provides to other components of a CASS in accordance with an embodiment.

FIG. 5B depicts illustrative control instructions that components of a CASS provide to a surgical computer in accordance with an embodiment.

FIG. 5C depicts an illustrative implementation in which a surgical computer is connected to a surgical data server via a network in accordance with an embodiment.

FIG. 6 depicts an operative patient care system and illustrative data sources in accordance with an embodiment.

FIG. 7A depicts an illustrative flow diagram for determining a pre-operative surgical plan in accordance with an embodiment.

FIG. 7B depicts an illustrative flow diagram for determining an episode of care including pre-operative, intraoperative, and post-operative actions in accordance with an embodiment.

FIG. 7C depicts illustrative graphical user interfaces including images depicting an implant placement in accordance with an embodiment.

FIG. 8 is a perspective view of a hand-held cutting device with a cut guard in accordance with certain embodiments of the present disclosure.

FIG. 9 is a sectional view of a surgical tool that is in a retracted configuration in accordance with certain embodiments of the present disclosure.

FIG. 10 is a sectional view of the surgical tool of FIG. 9 that is in an extended configuration in accordance with certain embodiments of the present disclosure.

FIG. 11 is a detail sectional view of the attachment assembly of the surgical tool of FIG. 9 where the attachment assembly is in an engaged configuration in accordance with certain embodiments of the present disclosure.

FIG. 12 is a detail sectional view of the attachment assembly of the surgical tool of FIG. 9 where the attachment assembly is in a disengaged configuration in accordance with certain embodiments of the present disclosure.

FIG. 13 is a detail sectional view of the attachment assembly of the surgical tool of FIG. 9 where the attachment assembly is in an unsealed state in accordance with certain embodiments of the present disclosure.

FIG. 14 is a detail sectional view of the attachment assembly of the surgical tool of FIG. 9 where the attachment assembly is in a sealed state in accordance with certain embodiments of the present disclosure.

FIG. 15 is a perspective view of a surgical instrument including a medical fastener magazine in accordance with certain embodiments of the present disclosure.

FIG. 16 is a detail view of the distal end of the surgical instrument of FIG. 15 with internal components shown in phantom, where a medical fastener is loaded for placement, in accordance with certain embodiments of the present disclosure.

FIG. 17 is a detail view of the distal end of the surgical instrument of FIG. 15 with internal components shown in phantom, where a medical fastener has been ejected therefrom, in accordance with certain embodiments of the present disclosure.

FIG. 18 is an exploded view of the medical fastener magazine assembly of the surgical instrument of FIG. 15 in accordance with certain embodiments of the present disclosure.

FIG. 19 is an exploded view of the medical fastener magazine assembly of the surgical instrument of FIG. 15 with internal components shown in phantom in accordance with certain embodiments of the present disclosure.

FIG. 20 is a perspective view of a robotic surgical system including a medical fastener caddy in accordance with certain embodiments of the present disclosure.

FIG. 21 is another perspective view of the robotic surgical system of FIG. 20 in accordance with certain embodiments of the present disclosure.

FIG. 22 is a perspective view of the medical fastener caddy of the robotic surgical system of FIG. 20 in accordance with certain embodiments of the present disclosure.

FIG. 23 is a perspective view of the robotic surgical system of FIG. 20 selecting a medical fastener from the medical fastener caddy in accordance with certain embodiments of the present disclosure.

FIG. 24 is a detail view of the medical fastener selection shown in FIG. 23 in accordance with certain embodiments of the present disclosure.

FIG. 25 is a diagram of the robotic surgical system of FIG. 20 being used to repair a tibia fracture in accordance with certain embodiments of the present disclosure.

FIG. 26 is a diagram of the robotic surgical system of FIG. 20 drilling a pilot hole for a medical fastener through a tibial plate in accordance with certain embodiments of the present disclosure.

FIG. 27 is a diagram of the robotic surgical system of FIG. 20 selecting an appropriate medical fastener for the tibial plate in accordance with certain embodiments of the present disclosure.

DETAILED DESCRIPTION

For the purposes of this disclosure, the term “implant” is used to refer to a prosthetic device or structure manufactured to replace or enhance a biological structure. For example, in a total hip replacement procedure a prosthetic acetabular cup (implant) is used to replace or enhance a patients worn or damaged acetabulum. While the term “implant” is generally considered to denote a man-made structure (as contrasted with a transplant), for the purposes of this specification an implant can include a biological tissue or material transplanted to replace or enhance a biological structure.

For the purposes of this disclosure, the term “real-time” is used to refer to calculations or operations performed on-the-fly as events occur or input is received by the operable system. However, the use of the term “real-time” is not intended to preclude operations that cause some latency between input and response, so long as the latency is an unintended consequence induced by the performance characteristics of the machine.

Although much of this disclosure refers to surgeons or other medical professionals by specific job title or role, nothing in this disclosure is intended to be limited to a specific job title or function. Surgeons or medical professionals can include any doctor, nurse, medical professional, or technician. Any of these terms or job titles can be used interchangeably with the user of the systems disclosed herein unless otherwise explicitly demarcated. For example, a reference to a surgeon also could apply, in some embodiments to a technician or nurse.

The systems, methods, and devices disclosed herein are particularly well adapted for surgical procedures that utilize surgical navigation systems, such as the NAVIO® surgical navigation system. NAVIO is a registered trademark of BLUE BELT TECHNOLOGIES, INC. of Pittsburgh, Pa., which is a subsidiary of SMITH & NEPHEW, INC. of Memphis, Tenn.

CASS Ecosystem Overview

FIG. 1 provides an illustration of an example computer-assisted surgical system (CASS) 100, according to some embodiments. As described in further detail in the sections that follow, the CASS uses computers, robotics, and imaging technology to aid surgeons in performing orthopedic surgery procedures such as total knee arthroplasty (TKA) or total hip arthroplasty (THA). For example, surgical navigation systems can aid surgeons in locating patient anatomical structures, guiding surgical instruments, and implanting medical devices with a high degree of accuracy. Surgical navigation systems such as the CASS 100 often employ various forms of computing technology to perform a wide variety of standard and minimally invasive surgical procedures and techniques. Moreover, these systems allow surgeons to more accurately plan, track and navigate the placement of instruments and implants relative to the body of a patient, as well as conduct pre-operative and intra-operative body imaging.

An Effector Platform 105 positions surgical tools relative to a patient during surgery. The exact components of the Effector Platform 105 will vary, depending on the embodiment employed. For example, for a knee surgery, the Effector Platform 105 may include an End Effector 105B that holds surgical tools or instruments during their use. The End Effector 105B may be a handheld device or instrument used by the surgeon (e.g., a NAVIO® hand piece or a cutting guide or jig) or, alternatively, the End Effector 105B can include a device or instrument held or positioned by a Robotic Arm 105A. While one Robotic Arm 105A is illustrated in FIG. 1, in some embodiments there may be multiple devices. As examples, there may be one Robotic Arm 105A on each side of an operating table T or two devices on one side of the table T. The Robotic Arm 105A may be mounted directly to the table T, be located next to the table T on a floor platform (not shown), mounted on a floor-to-ceiling pole, or mounted on a wall or ceiling of an operating room. The floor platform may be fixed or moveable. In one particular embodiment, the robotic arm 105A is mounted on a floor-to-ceiling pole located between the patient's legs or feet. In some embodiments, the End Effector 105B may include a suture holder or a stapler to assist in closing wounds. Further, in the case of two robotic arms 105A, the surgical computer 150 can drive the robotic arms 105A to work together to suture the wound at closure. Alternatively, the surgical computer 150 can drive one or more robotic arms 105A to staple the wound at closure.

The Effector Platform 105 can include a Limb Positioner 105C for positioning the patient's limbs during surgery. One example of a Limb Positioner 105C is the SMITH AND NEPHEW SPIDER2 system. The Limb Positioner 105C may be operated manually by the surgeon or alternatively change limb positions based on instructions received from the Surgical Computer 150 (described below). While one Limb Positioner 105C is illustrated in FIG. 1, in some embodiments there may be multiple devices. As examples, there may be one Limb Positioner 105C on each side of the operating table T or two devices on one side of the table T. The Limb Positioner 105C may be mounted directly to the table T, be located next to the table T on a floor platform (not shown), mounted on a pole, or mounted on a wall or ceiling of an operating room. In some embodiments, the Limb Positioner 105C can be used in non-conventional ways, such as a retractor or specific bone holder. The Limb Positioner 105C may include, as examples, an ankle boot, a soft tissue clamp, a bone clamp, or a soft-tissue retractor spoon, such as a hooked, curved, or angled blade. In some embodiments, the Limb Positioner 105C may include a suture holder to assist in closing wounds.

The Effector Platform 105 may include tools, such as a screwdriver, light or laser, to indicate an axis or plane, bubble level, pin driver, pin puller, plane checker, pointer, finger, or some combination thereof.

Resection Equipment 110 (not shown in FIG. 1) performs bone or tissue resection using, for example, mechanical, ultrasonic, or laser techniques. Examples of Resection Equipment 110 include drilling devices, burring devices, oscillatory sawing devices, vibratory impaction devices, reamers, ultrasonic bone cutting devices, radio frequency ablation devices, reciprocating devices (such as a rasp or broach), and laser ablation systems. In some embodiments, the Resection Equipment 110 is held and operated by the surgeon during surgery. In other embodiments, the Effector Platform 105 may be used to hold the Resection Equipment 110 during use.

The Effector Platform 105 also can include a cutting guide or jig 105D that is used to guide saws or drills used to resect tissue during surgery. Such cutting guides 105D can be formed integrally as part of the Effector Platform 105 or Robotic Arm 105A, or cutting guides can be separate structures that can be matingly and/or removably attached to the Effector Platform 105 or Robotic Arm 105A. The Effector Platform 105 or Robotic Arm 105A can be controlled by the CASS 100 to position a cutting guide or jig 105D adjacent to the patient's anatomy in accordance with a pre-operatively or intraoperatively developed surgical plan such that the cutting guide or jig will produce a precise bone cut in accordance with the surgical plan.

The Tracking System 115 uses one or more sensors to collect real-time position data that locates the patient's anatomy and surgical instruments. For example, for TKA procedures, the Tracking System may provide a location and orientation of the End Effector 105B during the procedure. In addition to positional data, data from the Tracking System 115 also can be used to infer velocity/acceleration of anatomy/instrumentation, which can be used for tool control. In some embodiments, the Tracking System 115 may use a tracker array attached to the End Effector 105B to determine the location and orientation of the End Effector 105B. The position of the End Effector 105B may be inferred based on the position and orientation of the Tracking System 115 and a known relationship in three-dimensional space between the Tracking System 115 and the End Effector 105B. Various types of tracking systems may be used in various embodiments of the present invention including, without limitation, Infrared (IR) tracking systems, electromagnetic (EM) tracking systems, video or image based tracking systems, and ultrasound registration and tracking systems. Using the data provided by the tracking system 115, the surgical computer 150 can detect objects and prevent collision. For example, the surgical computer 150 can prevent the Robotic Arm 105A and/or the End Effector 105B from colliding with soft tissue.

Any suitable tracking system can be used for tracking surgical objects and patient anatomy in the surgical theatre. For example, a combination of IR and visible light cameras can be used in an array. Various illumination sources, such as an IR LED light source, can illuminate the scene allowing three-dimensional imaging to occur. In some embodiments, this can include stereoscopic, tri-scopic, quad-scopic, etc. imaging. In addition to the camera array, which in some embodiments is affixed to a cart, additional cameras can be placed throughout the surgical theatre. For example, handheld tools or headsets worn by operators/surgeons can include imaging capability that communicates images back to a central processor to correlate those images with images captured by the camera array. This can give a more robust image of the environment for modeling using multiple perspectives. Furthermore, some imaging devices may be of suitable resolution or have a suitable perspective on the scene to pick up information stored in quick response (QR) codes or barcodes. This can be helpful in identifying specific objects not manually registered with the system. In some embodiments, the camera may be mounted on the Robotic Arm 105A.

Although, as discussed herein, the majority of tracking and/or navigation techniques utilize image-based tracking systems (e.g., IR tracking systems, video or image based tracking systems, etc.). However, electromagnetic (EM) based tracking systems are becoming more common for a variety of reasons. For example, implantation of standard optical trackers requires tissue resection (e.g., down to the cortex) as well as subsequent drilling and driving of cortical pins. Additionally, because optical trackers require a direct line of sight with a tracking system, the placement of such trackers may need to be far from the surgical site to ensure they do not restrict the movement of a surgeon or medical professional.

Generally, EM based tracking devices include one or more wire coils and a reference field generator. The one or more wire coils may be energized (e.g., via a wired or wireless power supply). Once energized, the coil creates an electromagnetic field that can be detected and measured (e.g., by the reference field generator or an additional device) in a manner that allows for the location and orientation of the one or more wire coils to be determined. As should be understood by someone of ordinary skill in the art, a single coil, such as is shown in FIG. 2, is limited to detecting five (5) total degrees-of-freedom (DOF). For example, sensor 200 may be able to track/determine movement in the X, Y, or Z direction, as well as rotation around the Y-axis 202 or Z-axis 201. However, because of the electromagnetic properties of a coil, it is not possible to properly track rotational movement around the X axis.

Accordingly, in most electromagnetic tracking applications, a three coil system, such as that shown in FIG. 3A is used to enable tracking in all six degrees of freedom that are possible for a rigid body moving in a three-dimensional space (i.e., forward/backward 310, up/down 320, left/right 330, roll 340, pitch 350, and yaw 360). However, the inclusion of two additional coils and the 90° offset angles at which they are positioned may require the tracking device to be much larger. Alternatively, as one of skill in the art would know, less than three full coils may be used to track all 6DOF. In some EM based tracking devices, two coils may be affixed to each other, such as is shown in FIG. 3B. Because the two coils 301B and 302B are rigidly affixed to each other, not perfectly parallel, and have locations that are known relative to each other, it is possible to determine the sixth degree of freedom 303B with this arrangement.

Although the use of two affixed coils (e.g., 301B and 302B) allows for EM based tracking in 6DOF, the sensor device is substantially larger in diameter than a single coil because of the additional coil. Thus, the practical application of using an EM based tracking system in a surgical environment may require tissue resection and drilling of a portion of the patient bone to allow for insertion of a EM tracker. Alternatively, in some embodiments, it may be possible to implant/insert a single coil, or 5DOF EM tracking device, into a patient bone using only a pin (e.g., without the need to drill or carve out substantial bone).

Thus, as described herein, a solution is needed for which the use of an EM tracking system can be restricted to devices small enough to be inserted/embedded using a small diameter needle or pin (i.e., without the need to create a new incision or large diameter opening in the bone). Accordingly, in some embodiments, a second 5DOF sensor, which is not attached to the first, and thus has a small diameter, may be used to track all 6DOF. Referring now to FIG. 3C, in some embodiments, two 5DOF EM sensors (e.g., 301C and 302C) may be inserted into the patient (e.g., in a patient bone) at different locations and with different angular orientations (e.g., angle 303C is non-zero).

Referring now to FIG. 4, an example embodiment is shown in which a first 5DOF EM sensor 401 and a second 5DOF EM sensor 402 are inserted into the patient bone 403 using a standard hollow needle 405 that is typical in most OR(s). In a further embodiment, the first sensor 401 and the second sensor 402 may have an angle offset of “α” 404. In some embodiments, it may be necessary for the offset angle “α” 404 to be greater than a predetermined value (e.g., a minimum angle of 0.50°, 0.75°, etc.). This minimum value may, in some embodiments, be determined by the CASS and provided to the surgeon or medical professional during the surgical plan. In some embodiments, a minimum value may be based on one or more factors, such as, for example, the orientation accuracy of the tracking system, a distance between the first and second EM sensors. The location of the field generator, a location of the field detector, a type of EM sensor, a quality of the EM sensor, patient anatomy, and the like.

Accordingly, as discussed herein, in some embodiments, a pin/needle (e.g., a cannulated mounting needle, etc.) may be used to insert one or more EM sensors. Generally, the pin/needle would be a disposable component, while the sensors themselves may be reusable. However, it should be understood that this is only one potential system, and that various other systems may be used in which the pin/needle and/or EM sensors are independently disposable or reusable. In a further embodiment, the EM sensors may be affixed to the mounting needle/pin (e.g., using a luer-lock fitting or the like), which can allow for quick assembly and disassembly. In additional embodiments, the EM sensors may utilize an alternative sleeve and/or anchor system that allows for minimally invasive placement of the sensors.

In another embodiment, the above systems may allow for a multi-sensor navigation system that can detect and correct for field distortions that plague electromagnetic tracking systems. It should be understood that field distortions may result from movement of any ferromagnetic materials within the reference field. Thus, as one of ordinary skill in the art would know, a typical OR has a large number of devices (e.g., an operating table, LCD displays, lighting equipment, imaging systems, surgical instruments, etc.) that may cause interference. Furthermore, field distortions are notoriously difficult to detect. The use of multiple EM sensors enables the system to detect field distortions accurately, and/or to warn a user that the current position measurements may not be accurate. Because the sensors are rigidly fixed to the bony anatomy (e.g., via the pin/needle), relative measurement of sensor positions (X, Y, Z) may be used to detect field distortions. By way of non-limiting example, in some embodiments, after the EM sensors are fixed to the bone, the relative distance between the two sensors is known and should remain constant. Thus, any change in this distance could indicate the presence of a field distortion.

In some embodiments, specific objects can be manually registered by a surgeon with the system preoperatively or intraoperatively. For example, by interacting with a user interface, a surgeon may identify the starting location for a tool or a bone structure. By tracking fiducial marks associated with that tool or bone structure, or by using other conventional image tracking modalities, a processor may track that tool or bone as it moves through the environment in a three-dimensional model.

In some embodiments, certain markers, such as fiducial marks that identify individuals, important tools, or bones in the theater may include passive or active identifiers that can be picked up by a camera or camera array associated with the tracking system. For example, an IR LED can flash a pattern that conveys a unique identifier to the source of that pattern, providing a dynamic identification mark. Similarly, one or two dimensional optical codes (barcode, QR code, etc.) can be affixed to objects in the theater to provide passive identification that can occur based on image analysis. If these codes are placed asymmetrically on an object, they also can be used to determine an orientation of an object by comparing the location of the identifier with the extents of an object in an image. For example, a QR code may be placed in a corner of a tool tray, allowing the orientation and identity of that tray to be tracked. Other tracking modalities are explained throughout. For example, in some embodiments, augmented reality headsets can be worn by surgeons and other staff to provide additional camera angles and tracking capabilities.

In addition to optical tracking, certain features of objects can be tracked by registering physical properties of the object and associating them with objects that can be tracked, such as fiducial marks fixed to a tool or bone. For example, a surgeon may perform a manual registration process whereby a tracked tool and a tracked bone can be manipulated relative to one another. By impinging the tip of the tool against the surface of the bone, a three-dimensional surface can be mapped for that bone that is associated with a position and orientation relative to the frame of reference of that fiducial mark. By optically tracking the position and orientation (pose) of the fiducial mark associated with that bone, a model of that surface can be tracked with an environment through extrapolation.

The registration process that registers the CASS 100 to the relevant anatomy of the patient also can involve the use of anatomical landmarks, such as landmarks on a bone or cartilage. For example, the CASS 100 can include a 3D model of the relevant bone or joint and the surgeon can intraoperatively collect data regarding the location of bony landmarks on the patient's actual bone using a probe that is connected to the CASS. Bony landmarks can include, for example, the medial malleolus and lateral malleolus, the ends of the proximal femur and distal tibia, and the center of the hip joint. The CASS 100 can compare and register the location data of bony landmarks collected by the surgeon with the probe with the location data of the same landmarks in the 3D model. Alternatively, the CASS 100 can construct a 3D model of the bone or joint without pre-operative image data by using location data of bony landmarks and the bone surface that are collected by the surgeon using a CASS probe or other means. The registration process also can include determining various axes of a joint. For example, for a TKA the surgeon can use the CASS 100 to determine the anatomical and mechanical axes of the femur and tibia. The surgeon and the CASS 100 can identify the center of the hip joint by moving the patient's leg in a spiral direction (i.e., circumduction) so the CASS can determine where the center of the hip joint is located.

A Tissue Navigation System 120 (not shown in FIG. 1) provides the surgeon with intraoperative, real-time visualization for the patient's bone, cartilage, muscle, nervous, and/or vascular tissues surrounding the surgical area. Examples of systems that may be employed for tissue navigation include fluorescent imaging systems and ultrasound systems.

The Display 125 provides graphical user interfaces (GUIs) that display images collected by the Tissue Navigation System 120 as well other information relevant to the surgery. For example, in one embodiment, the Display 125 overlays image information collected from various modalities (e.g., CT, MRI, X-ray, fluorescent, ultrasound, etc.) collected pre-operatively or intra-operatively to give the surgeon various views of the patient's anatomy as well as real-time conditions. The Display 125 may include, for example, one or more computer monitors. As an alternative or supplement to the Display 125, one or more members of the surgical staff may wear an Augmented Reality (AR) Head Mounted Device (HMD). For example, in FIG. 1 the Surgeon 111 is wearing an AR HMD 155 that may, for example, overlay pre-operative image data on the patient or provide surgical planning suggestions. Various example uses of the AR HMD 155 in surgical procedures are detailed in the sections that follow.

Surgical Computer 150 provides control instructions to various components of the CASS 100, collects data from those components, and provides general processing for various data needed during surgery. In some embodiments, the Surgical Computer 150 is a general purpose computer. In other embodiments, the Surgical Computer 150 may be a parallel computing platform that uses multiple central processing units (CPUs) or graphics processing units (GPU) to perform processing. In some embodiments, the Surgical Computer 150 is connected to a remote server over one or more computer networks (e.g., the Internet). The remote server can be used, for example, for storage of data or execution of computationally intensive processing tasks.

Various techniques generally known in the art can be used for connecting the Surgical Computer 150 to the other components of the CASS 100. Moreover, the computers can connect to the Surgical Computer 150 using a mix of technologies. For example, the End Effector 105B may connect to the Surgical Computer 150 over a wired (i.e., serial) connection. The Tracking System 115, Tissue Navigation System 120, and Display 125 can similarly be connected to the Surgical Computer 150 using wired connections. Alternatively, the Tracking System 115, Tissue Navigation System 120, and Display 125 may connect to the Surgical Computer 150 using wireless technologies such as, without limitation, Wi-Fi, Bluetooth, Near Field Communication (NFC), or ZigBee.

Powered Impaction and Acetabular Reamer Devices

Part of the flexibility of the CASS design described above with respect to FIG. 1 is that additional or alternative devices can be added to the CASS 100 as necessary to support particular surgical procedures. For example, in the context of hip surgeries, the CASS 100 may include a powered impaction device. Impaction devices are designed to repeatedly apply an impaction force that the surgeon can use to perform activities such as implant alignment. For example, within a total hip arthroplasty (THA), a surgeon will often insert a prosthetic acetabular cup into the implant host's acetabulum using an impaction device. Although impaction devices can be manual in nature (e.g., operated by the surgeon striking an impactor with a mallet), powered impaction devices are generally easier and quicker to use in the surgical setting. Powered impaction devices may be powered, for example, using a battery attached to the device. Various attachment pieces may be connected to the powered impaction device to allow the impaction force to be directed in various ways as needed during surgery. Also, in the context of hip surgeries, the CASS 100 may include a powered, robotically controlled end effector to ream the acetabulum to accommodate an acetabular cup implant.

In a robotically-assisted THA, the patient's anatomy can be registered to the CASS 100 using CT or other image data, the identification of anatomical landmarks, tracker arrays attached to the patient's bones, and one or more cameras. Tracker arrays can be mounted on the iliac crest using clamps and/or bone pins and such trackers can be mounted externally through the skin or internally (either posterolaterally or anterolaterally) through the incision made to perform the THA. For a THA, the CASS 100 can utilize one or more femoral cortical screws inserted into the proximal femur as checkpoints to aid in the registration process. The CASS 100 also can utilize one or more checkpoint screws inserted into the pelvis as additional checkpoints to aid in the registration process. Femoral tracker arrays can be secured to or mounted in the femoral cortical screws. The CASS 100 can employ steps where the registration is verified using a probe that the surgeon precisely places on key areas of the proximal femur and pelvis identified for the surgeon on the display 125. Trackers can be located on the robotic arm 105A or end effector 105B to register the arm and/or end effector to the CASS 100. The verification step also can utilize proximal and distal femoral checkpoints. The CASS 100 can utilize color prompts or other prompts to inform the surgeon that the registration process for the relevant bones and the robotic arm 105A or end effector 105B has been verified to a certain degree of accuracy (e.g., within 1 mm).

For a THA, the CASS 100 can include a broach tracking option using femoral arrays to allow the surgeon to intraoperatively capture the broach position and orientation and calculate hip length and offset values for the patient. Based on information provided about the patient's hip joint and the planned implant position and orientation after broach tracking is completed, the surgeon can make modifications or adjustments to the surgical plan.

For a robotically-assisted THA, the CASS 100 can include one or more powered reamers connected or attached to a robotic arm 105A or end effector 105B that prepares the pelvic bone to receive an acetabular implant according to a surgical plan. The robotic arm 105A and/or end effector 105B can inform the surgeon and/or control the power of the reamer to ensure that the acetabulum is being resected (reamed) in accordance with the surgical plan. For example, if the surgeon attempts to resect bone outside of the boundary of the bone to be resected in accordance with the surgical plan, the CASS 100 can power off the reamer or instruct the surgeon to power off the reamer. The CASS 100 can provide the surgeon with an option to turn off or disengage the robotic control of the reamer. The display 125 can depict the progress of the bone being resected (reamed) as compared to the surgical plan using different colors. The surgeon can view the display of the bone being resected (reamed) to guide the reamer to complete the reaming in accordance with the surgical plan. The CASS 100 can provide visual or audible prompts to the surgeon to warn the surgeon that resections are being made that are not in accordance with the surgical plan.

Following reaming, the CASS 100 can employ a manual or powered impactor that is attached or connected to the robotic arm 105A or end effector 105B to impact trial implants and final implants into the acetabulum. The robotic arm 105A and/or end effector 105B can be used to guide the impactor to impact the trial and final implants into the acetabulum in accordance with the surgical plan. The CASS 100 can cause the position and orientation of the trial and final implants vis-à-vis the bone to be displayed to inform the surgeon as to how the trial and final implant's orientation and position compare to the surgical plan, and the display 125 can show the implant's position and orientation as the surgeon manipulates the leg and hip. The CASS 100 can provide the surgeon with the option of re-planning and re-doing the reaming and implant impaction by preparing a new surgical plan if the surgeon is not satisfied with the original implant position and orientation.

Preoperatively, the CASS 100 can develop a proposed surgical plan based on a three dimensional model of the hip joint and other information specific to the patient, such as the mechanical and anatomical axes of the leg bones, the epicondylar axis, the femoral neck axis, the dimensions (e.g., length) of the femur and hip, the midline axis of the hip joint, the ASIS axis of the hip joint, and the location of anatomical landmarks such as the lesser trochanter landmarks, the distal landmark, and the center of rotation of the hip joint. The CASS-developed surgical plan can provide a recommended optimal implant size and implant position and orientation based on the three dimensional model of the hip joint and other information specific to the patient. The CASS-developed surgical plan can include proposed details on offset values, inclination and anteversion values, center of rotation, cup size, medialization values, superior-inferior fit values, femoral stem sizing and length.

For a THA, the CASS-developed surgical plan can be viewed preoperatively and intraoperatively, and the surgeon can modify CASS-developed surgical plan preoperatively or intraoperatively. The CASS-developed surgical plan can display the planned resection to the hip joint and superimpose the planned implants onto the hip joint based on the planned resections. The CASS 100 can provide the surgeon with options for different surgical workflows that will be displayed to the surgeon based on a surgeon's preference. For example, the surgeon can choose from different workflows based on the number and types of anatomical landmarks that are checked and captured and/or the location and number of tracker arrays used in the registration process.

According to some embodiments, a powered impaction device used with the CASS 100 may operate with a variety of different settings. In some embodiments, the surgeon adjusts settings through a manual switch or other physical mechanism on the powered impaction device. In other embodiments, a digital interface may be used that allows setting entry, for example, via a touchscreen on the powered impaction device. Such a digital interface may allow the available settings to vary based, for example, on the type of attachment piece connected to the power attachment device. In some embodiments, rather than adjusting the settings on the powered impaction device itself, the settings can be changed through communication with a robot or other computer system within the CASS 100. Such connections may be established using, for example, a Bluetooth or Wi-Fi networking module on the powered impaction device. In another embodiment, the impaction device and end pieces may contain features that allow the impaction device to be aware of what end piece (cup impactor, broach handle, etc.) is attached with no action required by the surgeon, and adjust the settings accordingly. This may be achieved, for example, through a QR code, barcode, RFID tag, or other method.

Examples of the settings that may be used include cup impaction settings (e.g., single direction, specified frequency range, specified force and/or energy range); broach impaction settings (e.g., dual direction/oscillating at a specified frequency range, specified force and/or energy range); femoral head impaction settings (e.g., single direction/single blow at a specified force or energy); and stem impaction settings (e.g., single direction at specified frequency with a specified force or energy). Additionally, in some embodiments, the powered impaction device includes settings related to acetabular liner impaction (e.g., single direction/single blow at a specified force or energy). There may be a plurality of settings for each type of liner such as poly, ceramic, oxinium, or other materials. Furthermore, the powered impaction device may offer settings for different bone quality based on preoperative testing/imaging/knowledge and/or intraoperative assessment by surgeon. In some embodiments, the powered impactor device may have a dual function. For example, the powered impactor device not only could provide reciprocating motion to provide an impact force, but also could provide reciprocating motion for a broach or rasp.

In some embodiments, the powered impaction device includes feedback sensors that gather data during instrument use and send data to a computing device, such as a controller within the device or the Surgical Computer 150. This computing device can then record the data for later analysis and use. Examples of the data that may be collected include, without limitation, sound waves, the predetermined resonance frequency of each instrument, reaction force or rebound energy from patient bone, location of the device with respect to imaging (e.g., fluoro, CT, ultrasound, MRI, etc.) registered bony anatomy, and/or external strain gauges on bones.

Once the data is collected, the computing device may execute one or more algorithms in real-time or near real-time to aid the surgeon in performing the surgical procedure. For example, in some embodiments, the computing device uses the collected data to derive information such as the proper final broach size (femur); when the stem is fully seated (femur side); or when the cup is seated (depth and/or orientation) for a THA. Once the information is known, it may be displayed for the surgeon's review, or it may be used to activate haptics or other feedback mechanisms to guide the surgical procedure.

Additionally, the data derived from the aforementioned algorithms may be used to drive operation of the device. For example, during insertion of a prosthetic acetabular cup with a powered impaction device, the device may automatically extend an impaction head (e.g., an end effector) moving the implant into the proper location, or turn the power off to the device once the implant is fully seated. In one embodiment, the derived information may be used to automatically adjust settings for quality of bone where the powered impaction device should use less power to mitigate femoral/acetabular/pelvic fracture or damage to surrounding tissues.

Robotic Arm

In some embodiments, the CASS 100 includes a robotic arm 105A that serves as an interface to stabilize and hold a variety of instruments used during the surgical procedure. For example, in the context of a hip surgery, these instruments may include, without limitation, retractors, a sagittal or reciprocating saw, the reamer handle, the cup impactor, the broach handle, and the stem inserter. The robotic arm 105A may have multiple degrees of freedom (like a Spider device), and have the ability to be locked in place (e.g., by a press of a button, voice activation, a surgeon removing a hand from the robotic arm, or other method).

In some embodiments, movement of the robotic arm 105A may be effectuated by use of a control panel built into the robotic arm system. For example, a display screen may include one or more input sources, such as physical buttons or a user interface having one or more icons, that direct movement of the robotic arm 105A. The surgeon or other healthcare professional may engage with the one or more input sources to position the robotic arm 105A when performing a surgical procedure.

A tool or an end effector 105B attached or integrated into a robotic arm 105A may include, without limitation, a burring device, a scalpel, a cutting device, a retractor, a joint tensioning device, or the like. In embodiments in which an end effector 105B is used, the end effector may be positioned at the end of the robotic arm 105A such that any motor control operations are performed within the robotic arm system. In embodiments in which a tool is used, the tool may be secured at a distal end of the robotic arm 105A, but motor control operation may reside within the tool itself.

The robotic arm 105A may be motorized internally to both stabilize the robotic arm, thereby preventing it from falling and hitting the patient, surgical table, surgical staff, etc., and to allow the surgeon to move the robotic arm without having to fully support its weight. While the surgeon is moving the robotic arm 105A, the robotic arm may provide some resistance to prevent the robotic arm from moving too fast or having too many degrees of freedom active at once. The position and the lock status of the robotic arm 105A may be tracked, for example, by a controller or the Surgical Computer 150.

In some embodiments, the robotic arm 105A can be moved by hand (e.g., by the surgeon) or with internal motors into its ideal position and orientation for the task being performed. In some embodiments, the robotic arm 105A may be enabled to operate in a “free” mode that allows the surgeon to position the arm into a desired position without being restricted. While in the free mode, the position and orientation of the robotic arm 105A may still be tracked as described above. In one embodiment, certain degrees of freedom can be selectively released upon input from user (e.g., surgeon) during specified portions of the surgical plan tracked by the Surgical Computer 150. Designs in which a robotic arm 105A is internally powered through hydraulics or motors or provides resistance to external manual motion through similar means can be described as powered robotic arms, while arms that are manually manipulated without power feedback, but which may be manually or automatically locked in place, may be described as passive robotic arms.

A robotic arm 105A or end effector 105B can include a trigger or other means to control the power of a saw or drill. Engagement of the trigger or other means by the surgeon can cause the robotic arm 105A or end effector 105B to transition from a motorized alignment mode to a mode where the saw or drill is engaged and powered on. Additionally, the CASS 100 can include a foot pedal (not shown) that causes the system to perform certain functions when activated. For example, the surgeon can activate the foot pedal to instruct the CASS 100 to place the robotic arm 105A or end effector 105B in an automatic mode that brings the robotic arm or end effector into the proper position with respect to the patient's anatomy in order to perform the necessary resections. The CASS 100 also can place the robotic arm 105A or end effector 105B in a collaborative mode that allows the surgeon to manually manipulate and position the robotic arm or end effector into a particular location. The collaborative mode can be configured to allow the surgeon to move the robotic arm 105A or end effector 105B medially or laterally, while restricting movement in other directions. As discussed, the robotic arm 105A or end effector 105B can include a cutting device (saw, drill, and burr) or a cutting guide or jig 105D that will guide a cutting device. In other embodiments, movement of the robotic arm 105A or robotically controlled end effector 105B can be controlled entirely by the CASS 100 without any, or with only minimal, assistance or input from a surgeon or other medical professional. In still other embodiments, the movement of the robotic arm 105A or robotically controlled end effector 105B can be controlled remotely by a surgeon or other medical professional using a control mechanism separate from the robotic arm or robotically controlled end effector device, for example using a joystick or interactive monitor or display control device.

The examples below describe uses of the robotic device in the context of a hip surgery; however, it should be understood that the robotic arm may have other applications for surgical procedures involving knees, shoulders, etc. One example of use of a robotic arm in the context of forming an anterior cruciate ligament (ACL) graft tunnel is described in WIPO Publication No. WO 2020/047051, filed Aug. 28, 2019, entitled “Robotic Assisted Ligament Graft Placement and Tensioning,” the entirety of which is incorporated herein by reference.

A robotic arm 105A may be used for holding the retractor. For example in one embodiment, the robotic arm 105A may be moved into the desired position by the surgeon. At that point, the robotic arm 105A may lock into place. In some embodiments, the robotic arm 105A is provided with data regarding the patient's position, such that if the patient moves, the robotic arm can adjust the retractor position accordingly. In some embodiments, multiple robotic arms may be used, thereby allowing multiple retractors to be held or for more than one activity to be performed simultaneously (e.g., retractor holding & reaming).

The robotic arm 105A may also be used to help stabilize the surgeon's hand while making a femoral neck cut. In this application, control of the robotic arm 105A may impose certain restrictions to prevent soft tissue damage from occurring. For example, in one embodiment, the Surgical Computer 150 tracks the position of the robotic arm 105A as it operates. If the tracked location approaches an area where tissue damage is predicted, a command may be sent to the robotic arm 105A causing it to stop. Alternatively, where the robotic arm 105A is automatically controlled by the Surgical Computer 150, the Surgical Computer may ensure that the robotic arm is not provided with any instructions that cause it to enter areas where soft tissue damage is likely to occur. The Surgical Computer 150 may impose certain restrictions on the surgeon to prevent the surgeon from reaming too far into the medial wall of the acetabulum or reaming at an incorrect angle or orientation.

In some embodiments, the robotic arm 105A may be used to hold a cup impactor at a desired angle or orientation during cup impaction. When the final position has been achieved, the robotic arm 105A may prevent any further seating to prevent damage to the pelvis.

The surgeon may use the robotic arm 105A to position the broach handle at the desired position and allow the surgeon to impact the broach into the femoral canal at the desired orientation. In some embodiments, once the Surgical Computer 150 receives feedback that the broach is fully seated, the robotic arm 105A may restrict the handle to prevent further advancement of the broach.

The robotic arm 105A may also be used for resurfacing applications. For example, the robotic arm 105A may stabilize the surgeon while using traditional instrumentation and provide certain restrictions or limitations to allow for proper placement of implant components (e.g., guide wire placement, chamfer cutter, sleeve cutter, plan cutter, etc.). Where only a burr is employed, the robotic arm 105A may stabilize the surgeon's handpiece and may impose restrictions on the handpiece to prevent the surgeon from removing unintended bone in contravention of the surgical plan.

The robotic arm 105A may be a passive arm. As an example, the robotic arm 105A may be a CIRQ robot arm available from Brainlab AG. CIRQ is a registered trademark of Brainlab AG, Olof-Palme-Str. 9 81829, München, FED REP of GERMANY. In one particular embodiment, the robotic arm 105A is an intelligent holding arm as disclosed in U.S. patent application Ser. No. 15/525,585 to Krinninger et al., U.S. patent application Ser. No. 15/561,042 to Nowatschin et al., U.S. patent application Ser. No. 15/561,048 to Nowatschin et al., and U.S. Pat. No. 10,342,636 to Nowatschin et al., the entire contents of each of which is herein incorporated by reference.

Surgical Procedure Data Generation and Collection

The various services that are provided by medical professionals to treat a clinical condition are collectively referred to as an “episode of care.” For a particular surgical intervention the episode of care can include three phases: pre-operative, intra-operative, and post-operative. During each phase, data is collected or generated that can be used to analyze the episode of care in order to understand various features of the procedure and identify patterns that may be used, for example, in training models to make decisions with minimal human intervention. The data collected over the episode of care may be stored at the Surgical Computer 150 or the Surgical Data Server 180 as a complete dataset. Thus, for each episode of care, a dataset exists that comprises all of the data collectively pre-operatively about the patient, all of the data collected or stored by the CASS 100 intra-operatively, and any post-operative data provided by the patient or by a healthcare professional monitoring the patient.

As explained in further detail, the data collected during the episode of care may be used to enhance performance of the surgical procedure or to provide a holistic understanding of the surgical procedure and the patient outcomes. For example, in some embodiments, the data collected over the episode of care may be used to generate a surgical plan. In one embodiment, a high-level, pre-operative plan is refined intra-operatively as data is collected during surgery. In this way, the surgical plan can be viewed as dynamically changing in real-time or near real-time as new data is collected by the components of the CASS 100. In other embodiments, pre-operative images or other input data may be used to develop a robust plan preoperatively that is simply executed during surgery. In this case, the data collected by the CASS 100 during surgery may be used to make recommendations that ensure that the surgeon stays within the pre-operative surgical plan. For example, if the surgeon is unsure how to achieve a certain prescribed cut or implant alignment, the Surgical Computer 150 can be queried for a recommendation. In still other embodiments, the pre-operative and intra-operative planning approaches can be combined such that a robust pre-operative plan can be dynamically modified, as necessary or desired, during the surgical procedure. In some embodiments, a biomechanics-based model of patient anatomy contributes simulation data to be considered by the CASS 100 in developing preoperative, intraoperative, and post-operative/rehabilitation procedures to optimize implant performance outcomes for the patient.

Aside from changing the surgical procedure itself, the data gathered during the episode of care may be used as an input to other procedures ancillary to the surgery. For example, in some embodiments, implants can be designed using episode of care data. Example data-driven techniques for designing, sizing, and fitting implants are described in U.S. patent application Ser. No. 13/814,531 filed Aug. 15, 2011 and entitled “Systems and Methods for Optimizing Parameters for Orthopaedic Procedures”; U.S. patent application Ser. No. 14/232,958 filed Jul 20, 2012 and entitled “Systems and Methods for Optimizing Fit of an Implant to Anatomy”; and U.S. patent application Ser. No. 12/234,444 filed Sep. 19, 2008 and entitled “Operatively Tuning Implants for Increased Performance,” the entire contents of each of which are hereby incorporated by reference into this patent application.

Furthermore, the data can be used for educational, training, or research purposes. For example, using the network-based approach described below in FIG. 5C, other doctors or students can remotely view surgeries in interfaces that allow them to selectively view data as it is collected from the various components of the CASS 100. After the surgical procedure, similar interfaces may be used to “playback” a surgery for training or other educational purposes, or to identify the source of any issues or complications with the procedure.

Data acquired during the pre-operative phase generally includes all information collected or generated prior to the surgery. Thus, for example, information about the patient may be acquired from a patient intake form or electronic medical record (EMR). Examples of patient information that may be collected include, without limitation, patient demographics, diagnoses, medical histories, progress notes, vital signs, medical history information, allergies, and lab results. The pre-operative data may also include images related to the anatomical area of interest. These images may be captured, for example, using Magnetic Resonance Imaging (MRI), Computed Tomography (CT), X-ray, ultrasound, or any other modality known in the art. The pre-operative data may also comprise quality of life data captured from the patient. For example, in one embodiment, pre-surgery patients use a mobile application (“app”) to answer questionnaires regarding their current quality of life. In some embodiments, preoperative data used by the CASS 100 includes demographic, anthropometric, cultural, or other specific traits about a patient that can coincide with activity levels and specific patient activities to customize the surgical plan to the patient. For example, certain cultures or demographics may be more likely to use a toilet that requires squatting on a daily basis.

FIGS. 5A and 5B provide examples of data that may be acquired during the intra-operative phase of an episode of care. These examples are based on the various components of the CASS 100 described above with reference to FIG. 1; however, it should be understood that other types of data may be used based on the types of equipment used during surgery and their use.

FIG. 5A shows examples of some of the control instructions that the Surgical Computer 150 provides to other components of the CASS 100, according to some embodiments. Note that the example of FIG. 5A assumes that the components of the Effector Platform 105 are each controlled directly by the Surgical Computer 150. In embodiments where a component is manually controlled by the Surgeon 111, instructions may be provided on the Display 125 or AR HMD 155 instructing the Surgeon 111 how to move the component.

The various components included in the Effector Platform 105 are controlled by the Surgical Computer 150 providing position commands that instruct the component where to move within a coordinate system. In some embodiments, the Surgical Computer 150 provides the Effector Platform 105 with instructions defining how to react when a component of the Effector Platform 105 deviates from a surgical plan. These commands are referenced in FIG. 5A as “haptic” commands. For example, the End Effector 105B may provide a force to resist movement outside of an area where resection is planned. Other commands that may be used by the Effector Platform 105 include vibration and audio cues.

In some embodiments, the end effectors 105B of the robotic arm 105A are operatively coupled with cutting guide 105D. In response to an anatomical model of the surgical scene, the robotic arm 105A can move the end effectors 105B and the cutting guide 105D into position to match the location of the femoral or tibial cut to be performed in accordance with the surgical plan. This can reduce the likelihood of error, allowing the vision system and a processor utilizing that vision system to implement the surgical plan to place a cutting guide 105D at the precise location and orientation relative to the tibia or femur to align a cutting slot of the cutting guide with the cut to be performed according to the surgical plan. Then, a surgeon can use any suitable tool, such as an oscillating or rotating saw or drill to perform the cut (or drill a hole) with perfect placement and orientation because the tool is mechanically limited by the features of the cutting guide 105D. In some embodiments, the cutting guide 105D may include one or more pin holes that are used by a surgeon to drill and screw or pin the cutting guide into place before performing a resection of the patient tissue using the cutting guide. This can free the robotic arm 105A or ensure that the cutting guide 105D is fully affixed without moving relative to the bone to be resected. For example, this procedure can be used to make the first distal cut of the femur during a total knee arthroplasty. In some embodiments, where the arthroplasty is a hip arthroplasty, cutting guide 105D can be fixed to the femoral head or the acetabulum for the respective hip arthroplasty resection. It should be understood that any arthroplasty that utilizes precise cuts can use the robotic arm 105A and/or cutting guide 105D in this manner.

The Resection Equipment 110 is provided with a variety of commands to perform bone or tissue operations. As with the Effector Platform 105, position information may be provided to the Resection Equipment 110 to specify where it should be located when performing resection. Other commands provided to the Resection Equipment 110 may be dependent on the type of resection equipment. For example, for a mechanical or ultrasonic resection tool, the commands may specify the speed and frequency of the tool. For Radiofrequency Ablation (RFA) and other laser ablation tools, the commands may specify intensity and pulse duration.

Some components of the CASS 100 do not need to be directly controlled by the Surgical Computer 150; rather, the Surgical Computer 150 only needs to activate the component, which then executes software locally specifying the manner in which to collect data and provide it to the Surgical Computer 150. In the example of FIG. 5A, there are two components that are operated in this manner: the Tracking System 115 and the Tissue Navigation System 120.

The Surgical Computer 150 provides the Display 125 with any visualization that is needed by the Surgeon 111 during surgery. For monitors, the Surgical Computer 150 may provide instructions for displaying images, GUIs, etc. using techniques known in the art. The display 125 can include various portions of the workflow of a surgical plan. During the registration process, for example, the display 125 can show a preoperatively constructed 3D bone model and depict the locations of the probe as the surgeon uses the probe to collect locations of anatomical landmarks on the patient. The display 125 can include information about the surgical target area. For example, in connection with a TKA, the display 125 can depict the mechanical and anatomical axes of the femur and tibia. The display 125 can depict varus and valgus angles for the knee joint based on a surgical plan, and the CASS 100 can depict how such angles will be affected if contemplated revisions to the surgical plan are made. Accordingly, the display 125 is an interactive interface that can dynamically update and display how changes to the surgical plan would impact the procedure and the final position and orientation of implants installed on bone.

As the workflow progresses to preparation of bone cuts or resections, the display 125 can depict the planned or recommended bone cuts before any cuts are performed. The surgeon 111 can manipulate the image display to provide different anatomical perspectives of the target area and can have the option to alter or revise the planned bone cuts based on intraoperative evaluation of the patient. The display 125 can depict how the chosen implants would be installed on the bone if the planned bone cuts are performed. If the surgeon 111 choses to change the previously planned bone cuts, the display 125 can depict how the revised bone cuts would change the position and orientation of the implant when installed on the bone.

The display 125 can provide the surgeon 111 with a variety of data and information about the patient, the planned surgical intervention, and the implants. Various patient-specific information can be displayed, including real-time data concerning the patient's health such as heart rate, blood pressure, etc. The display 125 also can include information about the anatomy of the surgical target region including the location of landmarks, the current state of the anatomy (e.g., whether any resections have been made, the depth and angles of planned and executed bone cuts), and future states of the anatomy as the surgical plan progresses. The display 125 also can provide or depict additional information about the surgical target region. For a TKA, the display 125 can provide information about the gaps (e.g., gap balancing) between the femur and tibia and how such gaps will change if the planned surgical plan is carried out. For a TKA, the display 125 can provide additional relevant information about the knee joint such as data about the joint's tension (e.g., ligament laxity) and information concerning rotation and alignment of the joint. The display 125 can depict how the planned implants' locations and positions will affect the patient as the knee joint is flexed. The display 125 can depict how the use of different implants or the use of different sizes of the same implant will affect the surgical plan and preview how such implants will be positioned on the bone. The CASS 100 can provide such information for each of the planned bone resections in a TKA or THA. In a TKA, the CASS 100 can provide robotic control for one or more of the planned bone resections. For example, the CASS 100 can provide robotic control only for the initial distal femur cut, and the surgeon 111 can manually perform other resections (anterior, posterior and chamfer cuts) using conventional means, such as a 4-in-1 cutting guide or jig 105D.

The display 125 can employ different colors to inform the surgeon of the status of the surgical plan. For example, un-resected bone can be displayed in a first color, resected bone can be displayed in a second color, and planned resections can be displayed in a third color. Implants can be superimposed onto the bone in the display 125, and implant colors can change or correspond to different types or sizes of implants.

The information and options depicted on the display 125 can vary depending on the type of surgical procedure being performed. Further, the surgeon 111 can request or select a particular surgical workflow display that matches or is consistent with his or her surgical plan preferences. For example, for a surgeon 111 who typically performs the tibial cuts before the femoral cuts in a TKA, the display 125 and associated workflow can be adapted to take this preference into account. The surgeon 111 also can preselect that certain steps be included or deleted from the standard surgical workflow display. For example, if a surgeon 111 uses resection measurements to finalize an implant plan but does not analyze ligament gap balancing when finalizing the implant plan, the surgical workflow display can be organized into modules, and the surgeon can select which modules to display and the order in which the modules are provided based on the surgeon's preferences or the circumstances of a particular surgery. Modules directed to ligament and gap balancing, for example, can include pre- and post-resection ligament/gap balancing, and the surgeon 111 can select which modules to include in their default surgical plan workflow depending on whether they perform such ligament and gap balancing before or after (or both) bone resections are performed.

For more specialized display equipment, such as AR HMDs, the Surgical Computer 150 may provide images, text, etc. using the data format supported by the equipment. For example, if the Display 125 is a holography device such as the Microsoft HoloLens™ or Magic Leap One™, the Surgical Computer 150 may use the HoloLens Application Program Interface (API) to send commands specifying the position and content of holograms displayed in the field of view of the Surgeon 111.

In some embodiments, one or more surgical planning models may be incorporated into the CASS 100 and used in the development of the surgical plans provided to the surgeon 111. The term “surgical planning model” refers to software that simulates the biomechanics performance of anatomy under various scenarios to determine the optimal way to perform cutting and other surgical activities. For example, for knee replacement surgeries, the surgical planning model can measure parameters for functional activities, such as deep knee bends, gait, etc., and select cut locations on the knee to optimize implant placement. One example of a surgical planning model is the LIFEMOD™ simulation software from SMITH AND NEPHEW, INC. In some embodiments, the Surgical Computer 150 includes computing architecture that allows full execution of the surgical planning model during surgery (e.g., a GPU-based parallel processing environment). In other embodiments, the Surgical Computer 150 may be connected over a network to a remote computer that allows such execution, such as a Surgical Data Server 180 (see FIG. 5C). As an alternative to full execution of the surgical planning model, in some embodiments, a set of transfer functions are derived that simplify the mathematical operations captured by the model into one or more predictor equations. Then, rather than execute the full simulation during surgery, the predictor equations are used. Further details on the use of transfer functions are described in WIPO Publication No. 2020/037308, filed Aug. 19, 2019, entitled “Patient Specific Surgical Method and System,” the entirety of which is incorporated herein by reference.

FIG. 5B shows examples of some of the types of data that can be provided to the Surgical Computer 150 from the various components of the CASS 100. In some embodiments, the components may stream data to the Surgical Computer 150 in real-time or near real-time during surgery. In other embodiments, the components may queue data and send it to the Surgical Computer 150 at set intervals (e.g., every second). Data may be communicated using any format known in the art. Thus, in some embodiments, the components all transmit data to the Surgical Computer 150 in a common format. In other embodiments, each component may use a different data format, and the Surgical Computer 150 is configured with one or more software applications that enable translation of the data.

In general, the Surgical Computer 150 may serve as the central point where CASS data is collected. The exact content of the data will vary depending on the source. For example, each component of the Effector Platform 105 provides a measured position to the Surgical Computer 150. Thus, by comparing the measured position to a position originally specified by the Surgical Computer 150 (see FIG. 5B), the Surgical Computer can identify deviations that take place during surgery.

The Resection Equipment 110 can send various types of data to the Surgical Computer 150 depending on the type of equipment used. Example data types that may be sent include the measured torque, audio signatures, and measured displacement values. Similarly, the Tracking Technology 115 can provide different types of data depending on the tracking methodology employed. Example tracking data types include position values for tracked items (e.g., anatomy, tools, etc.), ultrasound images, and surface or landmark collection points or axes. The Tissue Navigation System 120 provides the Surgical Computer 150 with anatomic locations, shapes, etc. as the system operates.

Although the Display 125 generally is used for outputting data for presentation to the user, it may also provide data to the Surgical Computer 150. For example, for embodiments where a monitor is used as part of the Display 125, the Surgeon 111 may interact with a GUI to provide inputs which are sent to the Surgical Computer 150 for further processing. For AR applications, the measured position and displacement of the HMD may be sent to the Surgical Computer 150 so that it can update the presented view as needed.

During the post-operative phase of the episode of care, various types of data can be collected to quantify the overall improvement or deterioration in the patient's condition as a result of the surgery. The data can take the form of, for example, self-reported information reported by patients via questionnaires. For example, in the context of a knee replacement surgery, functional status can be measured with an Oxford Knee Score questionnaire, and the post-operative quality of life can be measured with a EQ5D-5L questionnaire. Other examples in the context of a hip replacement surgery may include the Oxford Hip Score, Harris Hip Score, and WOMAC (Western Ontario and McMaster Universities Osteoarthritis index). Such questionnaires can be administered, for example, by a healthcare professional directly in a clinical setting or using a mobile app that allows the patient to respond to questions directly. In some embodiments, the patient may be outfitted with one or more wearable devices that collect data relevant to the surgery. For example, following a knee surgery, the patient may be outfitted with a knee brace that includes sensors that monitor knee positioning, flexibility, etc. This information can be collected and transferred to the patient's mobile device for review by the surgeon to evaluate the outcome of the surgery and address any issues. In some embodiments, one or more cameras can capture and record the motion of a patient's body segments during specified activities postoperatively. This motion capture can be compared to a biomechanics model to better understand the functionality of the patient's joints and better predict progress in recovery and identify any possible revisions that may be needed.

The post-operative stage of the episode of care can continue over the entire life of a patient. For example, in some embodiments, the Surgical Computer 150 or other components comprising the CASS 100 can continue to receive and collect data relevant to a surgical procedure after the procedure has been performed. This data may include, for example, images, answers to questions, “normal” patient data (e.g., blood type, blood pressure, conditions, medications, etc.), biometric data (e.g., gait, etc.), and objective and subjective data about specific issues (e.g., knee or hip joint pain). This data may be explicitly provided to the Surgical Computer 150 or other CASS component by the patient or the patient's physician(s). Alternatively or additionally, the Surgical Computer 150 or other CASS component can monitor the patient's EMR and retrieve relevant information as it becomes available. This longitudinal view of the patient's recovery allows the Surgical Computer 150 or other CASS component to provide a more objective analysis of the patient's outcome to measure and track success or lack of success for a given procedure. For example, a condition experienced by a patient long after the surgical procedure can be linked back to the surgery through a regression analysis of various data items collected during the episode of care. This analysis can be further enhanced by performing the analysis on groups of patients that had similar procedures and/or have similar anatomies.

In some embodiments, data is collected at a central location to provide for easier analysis and use. Data can be manually collected from various CASS components in some instances. For example, a portable storage device (e.g., USB stick) can be attached to the Surgical Computer 150 into order to retrieve data collected during surgery. The data can then be transferred, for example, via a desktop computer to the centralized storage. Alternatively, in some embodiments, the Surgical Computer 150 is connected directly to the centralized storage via a Network 175 as shown in FIG. 5C.

FIG. 5C illustrates a “cloud-based” implementation in which the Surgical Computer 150 is connected to a Surgical Data Server 180 via a Network 175. This Network 175 may be, for example, a private intranet or the Internet. In addition to the data from the Surgical Computer 150, other sources can transfer relevant data to the Surgical Data Server 180. The example of FIG. 5C shows 3 additional data sources: the Patient 160, Healthcare Professional(s) 165, and an EMR Database 170. Thus, the Patient 160 can send pre-operative and post-operative data to the Surgical Data Server 180, for example, using a mobile app. The Healthcare Professional(s) 165 includes the surgeon and his or her staff as well as any other professionals working with Patient 160 (e.g., a personal physician, a rehabilitation specialist, etc.). It should also be noted that the EMR Database 170 may be used for both pre-operative and post-operative data. For example, assuming that the Patient 160 has given adequate permissions, the Surgical Data Server 180 may collect the EMR of the Patient pre-surgery. Then, the Surgical Data Server 180 may continue to monitor the EMR for any updates post-surgery.

At the Surgical Data Server 180, an Episode of Care Database 185 is used to store the various data collected over a patient's episode of care. The Episode of Care Database 185 may be implemented using any technique known in the art. For example, in some embodiments, a SQL-based database may be used where all of the various data items are structured in a manner that allows them to be readily incorporated in two SQL's collection of rows and columns. However, in other embodiments a No-SQL database may be employed to allow for unstructured data, while providing the ability to rapidly process and respond to queries. As is understood in the art, the term “No-SQL” is used to define a class of data stores that are non-relational in their design. Various types of No-SQL databases may generally be grouped according to their underlying data model. These groupings may include databases that use column-based data models (e.g., Cassandra), document-based data models (e.g., MongoDB), key-value based data models (e.g., Redis), and/or graph-based data models (e.g., Allego). Any type of No-SQL database may be used to implement the various embodiments described herein and, in some embodiments, the different types of databases may support the Episode of Care Database 185.

Data can be transferred between the various data sources and the Surgical Data Server 180 using any data format and transfer technique known in the art. It should be noted that the architecture shown in FIG. 5C allows transmission from the data source to the Surgical Data Server 180, as well as retrieval of data from the Surgical Data Server 180 by the data sources. For example, as explained in detail below, in some embodiments, the Surgical Computer 150 may use data from past surgeries, machine learning models, etc. to help guide the surgical procedure.

In some embodiments, the Surgical Computer 150 or the Surgical Data Server 180 may execute a de-identification process to ensure that data stored in the Episode of Care Database 185 meets Health Insurance Portability and Accountability Act (HIPAA) standards or other requirements mandated by law. HIPAA provides a list of certain identifiers that must be removed from data during de-identification. The aforementioned de-identification process can scan for these identifiers in data that is transferred to the Episode of Care Database 185 for storage. For example, in one embodiment, the Surgical Computer 150 executes the de-identification process just prior to initiating transfer of a particular data item or set of data items to the Surgical Data Server 180. In some embodiments, a unique identifier is assigned to data from a particular episode of care to allow for re-identification of the data if necessary.

Although FIGS. 5A-5C discuss data collection in the context of a single episode of care, it should be understood that the general concept can be extended to data collection from multiple episodes of care. For example, surgical data may be collected over an entire episode of care each time a surgery is performed with the CASS 100 and stored at the Surgical Computer 150 or at the Surgical Data Server 180. As explained in further detail below, a robust database of episode of care data allows the generation of optimized values, measurements, distances, or other parameters and other recommendations related to the surgical procedure. In some embodiments, the various datasets are indexed in the database or other storage medium in a manner that allows for rapid retrieval of relevant information during the surgical procedure. For example, in one embodiment, a patient-centric set of indices may be used so that data pertaining to a particular patient or a set of patients similar to a particular patient can be readily extracted. This concept can be similarly applied to surgeons, implant characteristics, CASS component versions, etc.

Further details of the management of episode of care data is described in International Patent Application No. PCT/US19/67845, filed Dec. 20, 2019 and entitled “METHODS AND SYSTEMS FOR PROVIDING AN EPISODE OF CARE,” the entirety of which is incorporated herein by reference.

Open Versus Closed Digital Ecosystems

In some embodiments, the CASS 100 is designed to operate as a self-contained or “closed” digital ecosystem. Each component of the CASS 100 is specifically designed to be used in the closed ecosystem, and data is generally not accessible to devices outside of the digital ecosystem. For example, in some embodiments, each component includes software or firmware that implements proprietary protocols for activities such as communication, storage, security, etc. The concept of a closed digital ecosystem may be desirable for a company that wants to control all components of the CASS 100 to ensure that certain compatibility, security, and reliability standards are met. For example, the CASS 100 can be designed such that a new component cannot be used with the CASS unless it is certified by the company.

In other embodiments, the CASS 100 is designed to operate as an “open” digital ecosystem. In these embodiments, components may be produced by a variety of different companies according to standards for activities, such as communication, storage, and security. Thus, by using these standards, any company can freely build an independent, compliant component of the CASS platform. Data may be transferred between components using publicly available application programming interfaces (APIs) and open, shareable data formats.

To illustrate one type of recommendation that may be performed with the CASS 100, a technique for optimizing surgical parameters is disclosed below. The term “optimization” in this context means selection of parameters that are optimal based on certain specified criteria. In an extreme case, optimization can refer to selecting optimal parameter(s) based on data from the entire episode of care, including any pre-operative data, the state of CASS data at a given point in time, and post-operative goals. Moreover, optimization may be performed using historical data, such as data generated during past surgeries involving, for example, the same surgeon, past patients with physical characteristics similar to the current patient, or the like.

The optimized parameters may depend on the portion of the patient's anatomy to be operated on. For example, for knee surgeries, the surgical parameters may include positioning information for the femoral and tibial component including, without limitation, rotational alignment (e.g., varus/valgus rotation, external rotation, flexion rotation for the femoral component, posterior slope of the tibial component), resection depths (e.g., varus knee, valgus knee), and implant type, size and position. The positioning information may further include surgical parameters for the combined implant, such as overall limb alignment, combined tibiofemoral hyperextension, and combined tibiofemoral resection. Additional examples of parameters that could be optimized for a given TKA femoral implant by the CASS 100 include the following:

Parameter Reference Exemplary Recommendation (s) Size Posterior The largest sized implant that does not overhang medial/lateral bone edges or overhang the anterior femur. A size that does not result in overstuffing the patella femoral joint Implant Medial/lateral Center the implant evenly between Position - cortical bone the medial/lateral cortical bone edges Medial Lateral edges Resection Distal and 6 mm of bone Depth - posterior Varus Knee lateral Resection Distal and 7 mm of bone Depth - posterior Valgus Knee medial Rotation - Mechanical 1° varus Varus/Valgus Axis Rotation - Transepicondylar 1° external from the transepicondylar External Axis axis Rotation - Mechanical Axis 3° flexed Flexion

Additional examples of parameters that could be optimized for a given TKA tibial implant by the CASS 100 include the following:

Parameter Reference Exemplary Recommendation (s) Size Posterior The largest sized implant that does not overhang the medial, lateral, anterior, and posterior tibial edges Implant Medial/lateral and Center the implant evenly between the Position anterior/posterior medial/lateral and anterior/posterior cortical bone cortical bone edges edges Resection Lateral/Medial 4 mm of bone Depth - Varus Knee Resection Lateral/Medial 5 mm of bone Depth - Valgus Knee Rotation - Mechanical Axis 1° valgus Varus/Valgus Rotation - Tibial Anterior 1° external from the tibial anterior External Posterior Axis paxis Posterior Mechanical Axis 3° posterior slope Slope

For hip surgeries, the surgical parameters may comprise femoral neck resection location and angle, cup inclination angle, cup anteversion angle, cup depth, femoral stem design, femoral stem size, fit of the femoral stem within the canal, femoral offset, leg length, and femoral version of the implant.

Shoulder parameters may include, without limitation, humeral resection depth/angle, humeral stem version, humeral offset, glenoid version and inclination, as well as reverse shoulder parameters such as humeral resection depth/angle, humeral stem version, Glenoid tilt/version, glenosphere orientation, glenosphere offset and offset direction.

Various conventional techniques exist for optimizing surgical parameters. However, these techniques are typically computationally intensive and, thus, parameters often need to be determined pre-operatively. As a result, the surgeon is limited in his or her ability to make modifications to optimized parameters based on issues that may arise during surgery. Moreover, conventional optimization techniques typically operate in a “black box” manner with little or no explanation regarding recommended parameter values. Thus, if the surgeon decides to deviate from a recommended parameter value, the surgeon typically does so without a full understanding of the effect of that deviation on the rest of the surgical workflow, or the impact of the deviation on the patient's post-surgery quality of life.

Operative Patient Care System

The general concepts of optimization may be extended to the entire episode of care using an Operative Patient Care System 620 that uses the surgical data, and other data from the Patient 605 and Healthcare Professionals 630 to optimize outcomes and patient satisfaction as depicted in FIG. 6.

Conventionally, pre-operative diagnosis, pre-operative surgical planning, intra-operative execution of a prescribed plan, and post-operative management of total joint arthroplasty are based on individual experience, published literature, and training knowledge bases of surgeons (ultimately, tribal knowledge of individual surgeons and their ‘network’ of peers and journal publications) and their native ability to make accurate intra-operative tactile discernment of “balance” and accurate manual execution of planar resections using guides and visual cues. This existing knowledge base and execution is limited with respect to the outcomes optimization offered to patients needing care. For example, limits exist with respect to accurately diagnosing a patient to the proper, least-invasive prescribed care; aligning dynamic patient, healthcare economic, and surgeon preferences with patient-desired outcomes; executing a surgical plan resulting in proper bone alignment and balance, etc.; and receiving data from disconnected sources having different biases that are difficult to reconcile into a holistic patient framework. Accordingly, a data-driven tool that more accurately models anatomical response and guides the surgical plan can improve the existing approach.

The Operative Patient Care System 620 is designed to utilize patient specific data, surgeon data, healthcare facility data, and historical outcome data to develop an algorithm that suggests or recommends an optimal overall treatment plan for the patient's entire episode of care (preoperative, operative, and postoperative) based on a desired clinical outcome. For example, in one embodiment, the Operative Patient Care System 620 tracks adherence to the suggested or recommended plan, and adapts the plan based on patient/care provider performance. Once the surgical treatment plan is complete, collected data is logged by the Operative Patient Care System 620 in a historical database. This database is accessible for future patients and the development of future treatment plans. In addition to utilizing statistical and mathematical models, simulation tools (e.g., LIFEMOD®) can be used to simulate outcomes, alignment, kinematics, etc. based on a preliminary or proposed surgical plan, and reconfigure the preliminary or proposed plan to achieve desired or optimal results according to a patient's profile or a surgeon's preferences. The Operative Patient Care System 620 ensures that each patient is receiving personalized surgical and rehabilitative care, thereby improving the chance of successful clinical outcomes and lessening the economic burden on the facility associated with near-term revision.

In some embodiments, the Operative Patient Care System 620 employs a data collecting and management method to provide a detailed surgical case plan with distinct steps that are monitored and/or executed using a CASS 100. The performance of the user(s) is calculated at the completion of each step and can be used to suggest changes to the subsequent steps of the case plan. Case plan generation relies on a series of input data that is stored on a local or cloud-storage database. Input data can be related to both the current patient undergoing treatment and historical data from patients who have received similar treatment(s).

A Patient 605 provides inputs such as Current Patient Data 610 and Historical Patient Data 615 to the Operative Patient Care System 620. Various methods generally known in the art may be used to gather such inputs from the Patient 605. For example, in some embodiments, the Patient 605 fills out a paper or digital survey that is parsed by the Operative Patient Care System 620 to extract patient data. In other embodiments, the Operative Patient Care System 620 may extract patient data from existing information sources, such as electronic medical records (EMRs), health history files, and payer/provider historical files. In still other embodiments, the Operative Patient Care System 620 may provide an application program interface (API) that allows the external data source to push data to the Operative Patient Care System. For example, the Patient 605 may have a mobile phone, wearable device, or other mobile device that collects data (e.g., heart rate, pain or discomfort levels, exercise or activity levels, or patient-submitted responses to the patient's adherence with any number of pre-operative plan criteria or conditions) and provides that data to the Operative Patient Care System 620. Similarly, the Patient 605 may have a digital application on his or her mobile or wearable device that enables data to be collected and transmitted to the Operative Patient Care System 620.

Current Patient Data 610 can include, but is not limited to, activity level, preexisting conditions, comorbidities, prehab performance, health and fitness level, pre-operative expectation level (relating to hospital, surgery, and recovery), a Metropolitan Statistical Area (MSA) driven score, genetic background, prior injuries (sports, trauma, etc.), previous joint arthroplasty, previous trauma procedures, previous sports medicine procedures, treatment of the contralateral joint or limb, gait or biomechanical information (back and ankle issues), levels of pain or discomfort, care infrastructure information (payer coverage type, home health care infrastructure level, etc.), and an indication of the expected ideal outcome of the procedure.

Historical Patient Data 615 can include, but is not limited to, activity level, preexisting conditions, comorbidities, prehab performance, health and fitness level, pre-operative expectation level (relating to hospital, surgery, and recovery), a MSA driven score, genetic background, prior injuries (sports, trauma, etc.), previous joint arthroplasty, previous trauma procedures, previous sports medicine procedures, treatment of the contralateral joint or limb, gait or biomechanical information (back and ankle issues), levels or pain or discomfort, care infrastructure information (payer coverage type, home health care infrastructure level, etc.), expected ideal outcome of the procedure, actual outcome of the procedure (patient reported outcomes [PROs], survivorship of implants, pain levels, activity levels, etc.), sizes of implants used, position/orientation/alignment of implants used, soft-tissue balance achieved, etc.

Healthcare Professional(s) 630 conducting the procedure or treatment may provide various types of data 625 to the Operative Patient Care System 620. This Healthcare Professional Data 625 may include, for example, a description of a known or preferred surgical technique (e.g., Cruciate Retaining (CR) vs Posterior Stabilized (PS), up- vs down-sizing, tourniquet vs tourniquet-less, femoral stem style, preferred approach for THA, etc.), the level of training of the Healthcare Professional(s) 630 (e.g., years in practice, fellowship trained, where they trained, whose techniques they emulate), previous success level including historical data (outcomes, patient satisfaction), and the expected ideal outcome with respect to range of motion, days of recovery, and survivorship of the device. The Healthcare Professional Data 625 can be captured, for example, with paper or digital surveys provided to the Healthcare Professional 630, via inputs to a mobile application by the Healthcare Professional, or by extracting relevant data from EMRs. In addition, the CASS 100 may provide data such as profile data (e.g., a Patient Specific Knee Instrument Profile) or historical logs describing use of the CASS during surgery.

Information pertaining to the facility where the procedure or treatment will be conducted may be included in the input data. This data can include, without limitation, the following: Ambulatory Surgery Center (ASC) vs hospital, facility trauma level, Comprehensive Care for Joint Replacement Program (CJR) or bundle candidacy, a MSA driven score, community vs metro, academic vs non-academic, postoperative network access (Skilled Nursing Facility [SNF] only, Home Health, etc.), availability of medical professionals, implant availability, and availability of or surgical hardware.

These facility inputs can be captured by, for example and without limitation, Surveys (Paper/Digital), Surgery Scheduling Tools (e.g., apps, Websites, Electronic Medical Records [EMRs], etc.), Databases of Hospital Information (on the Internet), etc. Input data relating to the associated healthcare economy including, but not limited to, the socioeconomic profile of the patient, the expected level of reimbursement the patient will receive, and if the treatment is patient specific may also be captured.

These healthcare economic inputs can be captured by, for example and without limitation, Surveys (Paper/Digital), Direct Payer Information, Databases of Socioeconomic status (on the Internet with zip code), etc. Finally, data derived from simulation of the procedure is captured. Simulation inputs include implant size, position, and orientation. Simulation can be conducted with custom or commercially available anatomical modeling software programs (e.g., LIFEMOD®, AnyBody, or OpenSIM). It is noted that the data inputs described above may not be available for every patient, and the treatment plan will be generated using the data that is available.

Prior to surgery, the Patient Data 610, 615 and Healthcare Professional Data 625 may be captured and stored in a cloud-based or online database (e.g., the Surgical Data Server 180 shown in FIG. 5C). Information relevant to the procedure is supplied to a computing system via wireless data transfer or manually with the use of portable media storage. The computing system is configured to generate a case plan for use with a CASS 100. Case plan generation will be described hereinafter. It is noted that the system has access to historical data from previous patients undergoing treatment, including implant size, placement, and orientation as generated by a computer-assisted, patient-specific knee instrument (PSKI) selection system, or automatically by the CASS 100 itself. To achieve this, case log data is uploaded to the historical database by a surgical sales rep or case engineer using an online portal. In some embodiments, data transfer to the online database is wireless and automated.

Historical data sets from the online database are used as inputs to a machine learning model such as, for example, a recurrent neural network (RNN) or other form of artificial neural network. As is generally understood in the art, an artificial neural network functions similar to a biologic neural network and is comprised of a series of nodes and connections. The machine learning model is trained to predict one or more values based on the input data. For the sections that follow, it is assumed that the machine learning model is trained to generate predictor equations. These predictor equations may be optimized to determine the optimal size, position, and orientation of the implants to achieve the best outcome or satisfaction level.

Once the procedure is complete, all patient data and available outcome data, including the implant size, position and orientation determined by the CASS 100, are collected and stored in the historical database. Any subsequent calculation of the target equation via the RNN will include the data from the previous patient in this manner, allowing for continuous improvement of the system.

In addition to, or as an alternative to determining implant positioning, in some embodiments, the predictor equation and associated optimization can be used to generate the resection planes for use with a PSKI system. When used with a PSKI system, the predictor equation computation and optimization are completed prior to surgery. Patient anatomy is estimated using medical image data (x-ray, CT, MRI). Global optimization of the predictor equation can provide an ideal size and position of the implant components. Boolean intersection of the implant components and patient anatomy is defined as the resection volume. PSKI can be produced to remove the optimized resection envelope. In this embodiment, the surgeon cannot alter the surgical plan intraoperatively.

The surgeon may choose to alter the surgical case plan at any time prior to or during the procedure. If the surgeon elects to deviate from the surgical case plan, the altered size, position, and/or orientation of the component(s) is locked, and the global optimization is refreshed based on the new size, position, and/or orientation of the component(s) (using the techniques previously described) to find the new ideal position of the other component(s) and the corresponding resections needed to be performed to achieve the newly optimized size, position and/or orientation of the component(s). For example, if the surgeon determines that the size, position and/or orientation of the femoral implant in a TKA needs to be updated or modified intraoperatively, the femoral implant position is locked relative to the anatomy, and the new optimal position of the tibia will be calculated (via global optimization) considering the surgeon's changes to the femoral implant size, position and/or orientation. Furthermore, if the surgical system used to implement the case plan is robotically assisted (e.g., as with NAVIO® or the MAKO Rio), bone removal and bone morphology during the surgery can be monitored in real time. If the resections made during the procedure deviate from the surgical plan, the subsequent placement of additional components may be optimized by the processor taking into account the actual resections that have already been made.

FIG. 7A illustrates how the Operative Patient Care System 620 may be adapted for performing case plan matching services. In this example, data is captured relating to the current patient 610 and is compared to all or portions of a historical database of patient data and associated outcomes 615. For example, the surgeon may elect to compare the plan for the current patient against a subset of the historical database. Data in the historical database can be filtered to include, for example, only data sets with favorable outcomes, data sets corresponding to historical surgeries of patients with profiles that are the same or similar to the current patient profile, data sets corresponding to a particular surgeon, data sets corresponding to a particular element of the surgical plan (e.g., only surgeries where a particular ligament is retained), or any other criteria selected by the surgeon or medical professional. If, for example, the current patient data matches or is correlated with that of a previous patient who experienced a good outcome, the case plan from the previous patient can be accessed and adapted or adopted for use with the current patient. The predictor equation may be used in conjunction with an intra-operative algorithm that identifies or determines the actions associated with the case plan. Based on the relevant and/or preselected information from the historical database, the intra-operative algorithm determines a series of recommended actions for the surgeon to perform. Each execution of the algorithm produces the next action in the case plan. If the surgeon performs the action, the results are evaluated. The results of the surgeon's performing the action are used to refine and update inputs to the intra-operative algorithm for generating the next step in the case plan. Once the case plan has been fully executed all data associated with the case plan, including any deviations performed from the recommended actions by the surgeon, are stored in the database of historical data. In some embodiments, the system utilizes preoperative, intraoperative, or postoperative modules in a piecewise fashion, as opposed to the entire continuum of care. In other words, caregivers can prescribe any permutation or combination of treatment modules including the use of a single module. These concepts are illustrated in FIG. 7B and can be applied to any type of surgery utilizing the CASS 100.

Surgery Process Display

As noted above with respect to FIGS. 1 and 5A-5C, the various components of the CASS 100 generate detailed data records during surgery. The CASS 100 can track and record various actions and activities of the surgeon during each step of the surgery and compare actual activity to the pre-operative or intraoperative surgical plan. In some embodiments, a software tool may be employed to process this data into a format where the surgery can be effectively “played-back.” For example, in one embodiment, one or more GUIs may be used that depict all of the information presented on the Display 125 during surgery. This can be supplemented with graphs and images that depict the data collected by different tools. For example, a GUI that provides a visual depiction of the knee during tissue resection may provide the measured torque and displacement of the resection equipment adjacent to the visual depiction to better provide an understanding of any deviations that occurred from the planned resection area. The ability to review a playback of the surgical plan or toggle between different phases of the actual surgery vs. the surgical plan could provide benefits to the surgeon and/or surgical staff, allowing such persons to identify any deficiencies or challenging phases of a surgery so that they can be modified in future surgeries. Similarly, in academic settings, the aforementioned GUIs can be used as a teaching tool for training future surgeons and/or surgical staff. Additionally, because the data set effectively records many elements of the surgeon's activity, it may also be used for other reasons (e.g., legal or compliance reasons) as evidence of correct or incorrect performance of a particular surgical procedure.

Over time, as more and more surgical data is collected, a rich library of data may be acquired that describes surgical procedures performed for various types of anatomy (knee, shoulder, hip, etc.) by different surgeons for different patients. Moreover, information such as implant type and dimension, patient demographics, etc. can further be used to enhance the overall dataset. Once the dataset has been established, it may be used to train a machine learning model (e.g., RNN) to make predictions of how surgery will proceed based on the current state of the CASS 100.

Training of the machine learning model can be performed as follows. The overall state of the CASS 100 can be sampled over a plurality of time periods for the duration of the surgery. The machine learning model can then be trained to translate a current state at a first time period to a future state at a different time period. By analyzing the entire state of the CASS 100 rather than the individual data items, any causal effects of interactions between different components of the CASS 100 can be captured. In some embodiments, a plurality of machine learning models may be used rather than a single model. In some embodiments, the machine learning model may be trained not only with the state of the CASS 100, but also with patient data (e.g., captured from an EMR) and an identification of members of the surgical staff. This allows the model to make predictions with even greater specificity. Moreover, it allows surgeons to selectively make predictions based only on their own surgical experiences if desired.

In some embodiments, predictions or recommendations made by the aforementioned machine learning models can be directly integrated into the surgical workflow. For example, in some embodiments, the Surgical Computer 150 may execute the machine learning model in the background making predictions or recommendations for upcoming actions or surgical conditions. A plurality of states can thus be predicted or recommended for each period. For example, the Surgical Computer 150 may predict or recommend the state for the next 5 minutes in 30 second increments. Using this information, the surgeon can utilize a “process display” view of the surgery that allows visualization of the future state. For example, FIG. 7C depicts a series of images that may be displayed to the surgeon depicting the implant placement interface. The surgeon can cycle through these images, for example, by entering a particular time into the display 125 of the CASS 100 or instructing the system to advance or rewind the display in a specific time increment using a tactile, oral, or other instruction. In one embodiment, the process display can be presented in the upper portion of the surgeon's field of view in the AR HMD. In some embodiments, the process display can be updated in real-time. For example, as the surgeon moves resection tools around the planned resection area, the process display can be updated so that the surgeon can see how his or her actions are affecting the other factors of the surgery.

In some embodiments, rather than simply using the current state of the CASS 100 as an input to the machine learning model, the inputs to the model may include a planned future state. For example, the surgeon may indicate that he or she is planning to make a particular bone resection of the knee joint. This indication may be entered manually into the Surgical Computer 150 or the surgeon may verbally provide the indication. The Surgical Computer 150 can then produce a film strip showing the predicted effect of the cut on the surgery. Such a film strip can depict over specific time increments how the surgery will be affected, including, for example, changes in the patient's anatomy, changes to implant position and orientation, and changes regarding surgical intervention and instrumentation, if the contemplated course of action were to be performed. A surgeon or medical professional can invoke or request this type of film strip at any point in the surgery to preview how a contemplated course of action would affect the surgical plan if the contemplated action were to be carried out.

It should be further noted that, with a sufficiently trained machine learning model and robotic CASS, various elements of the surgery can be automated such that the surgeon only needs to be minimally involved, for example, by only providing approval for various steps of the surgery. For example, robotic control using arms or other means can be gradually integrated into the surgical workflow over time with the surgeon slowly becoming less and less involved with manual interaction versus robot operation. The machine learning model in this case can learn what robotic commands are required to achieve certain states of the CASS-implemented plan. Eventually, the machine learning model may be used to produce a film strip or similar view or display that predicts and can preview the entire surgery from an initial state. For example, an initial state may be defined that includes the patient information, the surgical plan, implant characteristics, and surgeon preferences. Based on this information, the surgeon could preview an entire surgery to confirm that the CASS-recommended plan meets the surgeon's expectations and/or requirements. Moreover, because the output of the machine learning model is the state of the CASS 100 itself, commands can be derived to control the components of the CASS to achieve each predicted state. In the extreme case, the entire surgery could thus be automated based on just the initial state information.

Using the Point Probe to Acquire High-Resolution of Key Areas During Hip Surgeries

Use of the point probe is described in U.S. patent application Ser. No. 14/955,742 entitled “Systems and Methods for Planning and Performing Image Free Implant Revision Surgery,” the entirety of which is incorporated herein by reference. Briefly, an optically tracked point probe may be used to map the actual surface of the target bone that needs a new implant. Mapping is performed after removal of the defective or worn-out implant, as well as after removal of any diseased or otherwise unwanted bone. A plurality of points is collected on the bone surfaces by brushing or scraping the entirety of the remaining bone with the tip of the point probe. This is referred to as tracing or “painting” the bone. The collected points are used to create a three-dimensional model or surface map of the bone surfaces in the computerized planning system. The created 3D model of the remaining bone is then used as the basis for planning the procedure and necessary implant sizes. An alternative technique that uses X-rays to determine a 3D model is described in U.S. patent application Ser. No. 16/387,151, filed Apr. 17, 2019 and entitled “Three-Dimensional Selective Bone Matching” and U.S. patent application Ser. No. 16/789,930, filed Feb. 13, 2020 and entitled “Three-Dimensional Selective Bone Matching,” the entirety of each of which is incorporated herein by reference.

For hip applications, the point probe painting can be used to acquire high resolution data in key areas such as the acetabular rim and acetabular fossa. This can allow a surgeon to obtain a detailed view before beginning to ream. For example, in one embodiment, the point probe may be used to identify the floor (fossa) of the acetabulum. As is well understood in the art, in hip surgeries, it is important to ensure that the floor of the acetabulum is not compromised during reaming so as to avoid destruction of the medial wall. If the medial wall were inadvertently destroyed, the surgery would require the additional step of bone grafting. With this in mind, the information from the point probe can be used to provide operating guidelines to the acetabular reamer during surgical procedures. For example, the acetabular reamer may be configured to provide haptic feedback to the surgeon when he or she reaches the floor or otherwise deviates from the surgical plan. Alternatively, the CASS 100 may automatically stop the reamer when the floor is reached or when the reamer is within a threshold distance.

As an additional safeguard, the thickness of the area between the acetabulum and the medial wall could be estimated. For example, once the acetabular rim and acetabular fossa has been painted and registered to the pre-operative 3D model, the thickness can readily be estimated by comparing the location of the surface of the acetabulum to the location of the medial wall. Using this knowledge, the CASS 100 may provide alerts or other responses in the event that any surgical activity is predicted to protrude through the acetabular wall while reaming.

The point probe may also be used to collect high resolution data of common reference points used in orienting the 3D model to the patient. For example, for pelvic plane landmarks like the ASIS and the pubic symphysis, the surgeon may use the point probe to paint the bone to represent a true pelvic plane. Given a more complete view of these landmarks, the registration software has more information to orient the 3D model.

The point probe may also be used to collect high-resolution data describing the proximal femoral reference point that could be used to increase the accuracy of implant placement. For example, the relationship between the tip of the Greater Trochanter (GT) and the center of the femoral head is commonly used as reference point to align the femoral component during hip arthroplasty. The alignment is highly dependent on proper location of the GT; thus, in some embodiments, the point probe is used to paint the GT to provide a high-resolution view of the area. Similarly, in some embodiments, it may be useful to have a high-resolution view of the Lesser Trochanter (LT). For example, during hip arthroplasty, the Dorr Classification helps to select a stem that will maximize the ability of achieving a press-fit during surgery to prevent micromotion of femoral components post-surgery and ensure optimal bony ingrowth. As is generated understood in the art, the Dorr Classification measures the ratio between the canal width at the LT and the canal width 10 cm below the LT. The accuracy of the classification is highly dependent on the correct location of the relevant anatomy. Thus, it may be advantageous to paint the LT to provide a high-resolution view of the area.

In some embodiments, the point probe is used to paint the femoral neck to provide high-resolution data that allows the surgeon to better understand where to make the neck cut. The navigation system can then guide the surgeon as they perform the neck cut. For example, as understood in the art, the femoral neck angle is measured by placing one line down the center of the femoral shaft and a second line down the center of the femoral neck. Thus, a high-resolution view of the femoral neck (and possibly the femoral shaft as well) would provide a more accurate calculation of the femoral neck angle.

High-resolution femoral head neck data also could be used for a navigated resurfacing procedure where the software/hardware aids the surgeon in preparing the proximal femur and placing the femoral component. As is generally understood in the art, during hip resurfacing, the femoral head and neck are not removed; rather, the head is trimmed and capped with a smooth metal covering. In this case, it would be advantageous for the surgeon to paint the femoral head and cap so that an accurate assessment of their respective geometries can be understood and used to guide trimming and placement of the femoral component.

Registration of Pre-Operative Data to Patient Anatomy Using the Point Probe

As noted above, in some embodiments, a 3D model is developed during the pre-operative stage based on 2D or 3D images of the anatomical area of interest. In such embodiments, registration between the 3D model and the surgical site is performed prior to the surgical procedure. The registered 3D model may be used to track and measure the patient's anatomy and surgical tools intraoperatively.

During the surgical procedure, landmarks are acquired to facilitate registration of this pre-operative 3D model to the patient's anatomy. For knee procedures, these points could comprise the femoral head center, distal femoral axis point, medial and lateral epicondyles, medial and lateral malleolus, proximal tibial mechanical axis point, and tibial A/P direction. For hip procedures these points could comprise the anterior superior iliac spine (ASIS), the pubic symphysis, points along the acetabular rim and within the hemisphere, the greater trochanter (GT), and the lesser trochanter (LT).

In a revision surgery, the surgeon may paint certain areas that contain anatomical defects to allow for better visualization and navigation of implant insertion. These defects can be identified based on analysis of the pre-operative images. For example, in one embodiment, each pre-operative image is compared to a library of images showing “healthy” anatomy (i.e., without defects). Any significant deviations between the patient's images and the healthy images can be flagged as a potential defect. Then, during surgery, the surgeon can be warned of the possible defect via a visual alert on the display 125 of the CASS 100. The surgeon can then paint the area to provide further detail regarding the potential defect to the Surgical Computer 150.

In some embodiments, the surgeon may use a non-contact method for registration of bony anatomy intra-incision. For example, in one embodiment, laser scanning is employed for registration. A laser stripe is projected over the anatomical area of interest and the height variations of the area are detected as changes in the line. Other non-contact optical methods, such as white light interferometry or ultrasound, may alternatively be used for surface height measurement or to register the anatomy. For example, ultrasound technology may be beneficial where there is soft tissue between the registration point and the bone being registered (e.g., ASIS, pubic symphysis in hip surgeries), thereby providing for a more accurate definition of anatomic planes.

Robotic-Assisted Insertion of Medical Fasteners at Predetermined Depths

FIG. 8 illustrates a hand-held cutting tool 228 that may be used in conjunction with certain embodiments of the present disclosure. As previously disclosed in U.S. Pat. No. 6,757,582 to Brisson et at., the entirety of which is incorporated by reference herein, the tool 228 can be tracked by a camera (e.g., a camera of the tracking system 115 in FIG. 2A and FIG. 2B) that optically detects the trackers 220 and communicates that information to a computer system (e.g., the surgical computer 150) that is also tracking the bones within the surgical space and comparing the location of the tool 228 with a pre-determined surgical plan. In certain embodiments, the tool 228 turns on when the cutting element 230 is in a position where the surgical plan indicates the bone should be cut and turns off when the tool 228 is near bone that is to be preserved. In certain other embodiments, the cutting element 230 is caused to extend and cut in places where it is supposed to cut and retracts behind the cut guard 232 when it is not supposed to cut the bone. In still further embodiments, the cutting element 230 may be extended a controlled distance away from the guard so that it only cuts to a certain depth or at a certain distance away from the distal end 234 of the guard in accordance with the surgical plan.

As noted above, there is a need in the field for systems and devices that allow for more efficient placement of medical fasteners during an orthopedic surgical procedure. One solution to this and other issues with such systems would be to allow users to use a single surgical tool to position the medical fasteners under navigation by the system and place the medical fasteners using robotic-assistance. For example, surgical tools configured for use with cutting elements can additionally be configured to place medical fasteners at a desired depth within a target location (e.g., a bone). In particular, some surgical tools for resecting bone or other tissue can include a collet assembly that is configured to engage and release a cutting element as controlled by the position of an axial drive system. Such surgical tools can additionally be used in conjunction with a compatible medical fastener to cause the surgical tool to automatically release the medical fastener at a predetermined implantation depth, as dictated by the surgical plan being executed by the surgical system. HEREEEEE

FIGS. 9-12 are sectional views of a surgical tool 500, which could include the tool 228 shown in FIG. 8, that is in a retracted configuration (as shown in FIGS. 6 and 8) and an extended configuration (as shown in FIGS. 10 and 12). The surgical tool 500 can include a handpiece 560 and a guide assembly 570 (which could include, e.g., the cut guard 232). In one embodiment, the surgical tool 500 can include an attachment assembly 502 that is configured to interchangeably receive and engage with a cutting element (e.g., the cutting element 230 shown in FIG. 8, a burr, or another bone removal tool) or a medical fastener 550 (e.g., a pin, Kirschner wire, or Schanz screw), as described in greater detail below. When a cutting element is attached to the surgical tool 500, the surgical tool can be used to resect, cut, or otherwise manipulate bone or other biological materials or perform other surgical tasks. When a medical fastener is attached to the surgical tool 500, the surgical tool can be used to implant or place the medical fastener 550 by automatically releasing the medical fastener 550 at the desired implantation depth, as described in greater detail below.

The surgical tool 500 can be configured to impart both axial (longitudinal) movement, via an electromechanical axial drive assembly 520, and rotational movement, via an electromechanical rotational drive assembly 530, upon a medical fastener 550 or cutting element that is coupled thereto. The rotational and axial movements can be driven simultaneously or separately from each other. In particular, the axial drive assembly 520 and the rotational drive assembly 530 can axially and rotationally drive the attachment assembly 502, which in turn imparts corresponding movements upon a medical fastener 550 or cutting element engaged therewith. Further, the axial drive assembly 520 and the rotational drive assembly 530 can be controlled in a synched manner according to the pitch of the medical fastener 550 (or another threaded component that is being driven by the surgical tool 500) so that the medical fastener can be advanced into the bone at a rate that prevents the bone from being stripped. In various embodiments, the axial drive assembly 520 and/or rotational drive assembly 530 can be controlled by the CASS 100 (e.g., via the surgical computer 150) or by a controller onboard the surgical tool 500 in order to, for example, control the rates at which a medical fastener 550, cutting element, or another such component is translationally and rotationally driven thereby. Avoiding stripping of the bone when inserting the medical fastener 550 improves the resulting stability of the medical fastener upon insertion.

The axial drive assembly 520 can include an axial actuator 521 that is operatively coupled to the attachment assembly 502 via a linkage 522. The axial actuator 521 could include, for example, a linear motor, a hydraulic actuator, a screw-type actuator, a rack and pinion assembly, or a piezoelectric linear actuator. In the illustrated embodiment, the attachment assembly 502 is supported by and/or within a carriage assembly 524 that is coupled to the axial actuator 521 via the linkage 522. The carriage assembly 524 is slidably movable through a bore in the surgical tool 500 such that axial movement imparted upon the carriage assembly 524 in turn causes the attachment assembly 502 to be driven axially (i.e., either proximally or distally as dictated by the axial actuator 521). However, in other embodiments, the axial actuator 521 can be coupled to and drive the attachment assembly 502 in other manners. Accordingly, the axial actuator 521 can translate a medical fastener 550 or cutting element engaged with the attachment assembly 502 through the interior of the shaft 572 of the guide assembly 570 in order to selectively expose (i.e., extend from the shaft 572) or conceal (i.e., retract into the shaft 572) the medical fastener 550 or cutting element.

The rotational drive assembly 530 can include a rotational actuator 531 that is operatively coupled to the attachment assembly 502 via a drive shaft 532. The rotational actuator 531 could include, for example, a brushless DC motor, such as a Bien-Air NANO micromotor or a Maxon ECX SPEED 19 motor. The rotational actuator 531 can be configured to rotationally drive the attachment assembly 502, which in turn rotationally drives a cutting element or medical fastener 550 connected thereto. When driven by the rotational actuator 531, a cutting element coupled to the surgical tool 500 can remove bone (or perform another surgical task) and a medical fastener coupled to the surgical tool 500 can bore into or otherwise be implanted within a bone. In the illustrated embodiment, the rotational actuator 531 and the drive shaft 532 are coaxial with the attachment assembly 502 (i.e., positioned along the axis LA). However, in other embodiments, the rotational actuator 531 and/or drive shaft 532 can be offset from the attachment assembly 502. Further, the rotational actuator 531 can be either stationary or coupled to the axial drive assembly 520 such that it is translated in accordance with the attachment assembly 502. In embodiments where the rotational actuator 531 is stationary, the rotational actuator 531 can be coupled to the attachment assembly 502 via a slip ring assembly, for example.

As noted above, the attachment assembly 502 can be configured to interchangeably receive cutting elements, medical fasteners, and other compatible devices. In the illustrated embodiment, the attachment assembly 502 can include a collet 504 that is sized and shaped to receive and securely maintain a corresponding end of a cutting element or medical fastener 550 therein. It should be noted that although FIGS. 9 and 10 show the attachment assembly 502 engaged with a medical fastener 550, this is merely for illustrative purposes and the attachment assembly 502 can alternatively be engaged with a cutting element or other devices having compatible attachment mechanisms. In the illustrated embodiment, the attachment mechanism of the medical fastener 550 includes a recess 552 positioned at its proximal or drive end 554 that is dimensioned or otherwise configured to engage with a detent 510 of the attachment assembly 502 in order to fixedly secure the medical fastener 550 within the attachment assembly 502 upon the medical fastener 550 being inserted therein. The detent 510 can include a ball bearing, a spring-biased member, or another mechanism configured to selectively engage with the medical fastener 550, for example. The recess 552 can include a groove extending about the medical fastener 550, for example. When the medical fastener 550 is inserted into the collet 504, the detent 510 can move into and at least partially occupy the recess 552, thereby constraining movement of the medical fastener 550 along the longitudinal axis LA and preventing the medical fastener 550 from being withdrawn from the surgical tool 500. Cutting elements that are designed for use with the surgical tool 500 can likewise include attachment mechanisms that correspond to the illustrated medical fastener attachment mechanism or are otherwise compatible with the attachment assembly 502.

The attachment assembly 502 can further include a sleeve 506 that is slidably transitionable relative to the collet 504 and a spring 508 or another biasing member that is configured to bias the sleeve 506 towards a first position relative to the collet 504. In the first position (e.g., the position shown in FIGS. 9 and 11), the interior surface of the sleeve 506 bears against the detent 510 to cause the detent 510 to maintain its position occupying the recess 552 of the medical fastener 550 (or a cutting element, as appropriate), which in turn causes the medical fastener 550 to maintain engagement with the attachment assembly 502. As the axial actuator 521 drives the attachment assembly 502 distally (i.e., from the position shown in FIG. 11 to the position shown in FIG. 12), the distal end of the sleeve 506 contacts a stop 512, which prevents the sleeve 506 from translating further distally. However, because the collet 504 is independently movable relative to the sleeve 506, the collet 504 is not so limited and can continue translating distally. Accordingly, further translation of the attachment assembly 502 by the axial actuator 521 causes the spring 508 to compress and, thus, the collet 504 to move relative to the sleeve 506. As the positions of the collet 504 and the sleeve 506 shift relative to each other, the sleeve 506 can transition to a second position relative to the collet 504 where the aperture 505 in the collet 504 can come into alignment with the recess 507 in the sleeve 506. The recess 507 can include a groove extending about the interior surface of the sleeve 506, for example. Accordingly, the detent 510, which resides at least partially within the collet aperture 505, is permitted to translate radially into the recess 507 in the sleeve 506, which in turn causes the detent 510 to vacate the recess 552 in the medical fastener 550 (e.g., as shown in FIGS. 10 and 12). Because the detent 510 is vacated from the medical fastener recess 552 in this configuration of the attachment assembly 502, the medical fastener 550 is thus disengaged from the attachment assembly 502 and the surgical tool 500 as a whole. In sum, the axial drive assembly 520 can translate the attachment assembly 502 distally and cause the attachment assembly 502 to disengage from a medical fastener 550 upon the axial drive assembly 520 reaching its end position. As noted above, the rotational drive assembly 530 can rotationally drive the medical fastener 550 as it is simultaneously being driven axially by the axial drive assembly 520, thereby causing the medical fastener 550 to bore or be implanted into the bone. Accordingly, the end position of the axial drive assembly 520 corresponds to the depth to which the medical fastener 550 is implanted into the bone. The surgical tool 500 can then be withdrawn from the medical fastener 550, thereby leaving the medical fastener 550 at the particular implantation depth within the bone that corresponds to the distal or end position of the axial drive assembly 520.

In various embodiments, the CASS 100 can be used to implant a medical fastener 550 at a predetermined depth in a variety of different manners. In some embodiments, the CASS 100 can be configured to provide information or alerts to the users via the display 125 or another output device. The information or alerts could indicate a particular length, size, or type of medical fastener 550 for the surgeon to use given the type of surgical tool 500 being used in the surgical procedure, when the surgical tool 500 should be disengaged from the medical fastener 550, or particular values for operational parameters that the surgeon should set for the surgical tool 500 (e.g., implantation depth, length of the guide assembly 570, or axial drive assembly 520 starting position) to cause the medical fastener 550 to be automatically implanted at the predetermined depth dictated by the surgical plan. In other embodiments, the CASS 100 can be configured to control the surgical tool 500 or other surgical devices being used in the surgical procedure to cause the medical fastener 550 to be automatically implanted at the predetermined depth. As described above, the surgical tool 500 and other components of the CASS 100 can be connected to and controlled by a surgical computer 150. Accordingly, the surgical computer 150 could directly control the operational parameters of the surgical tool 500 (e.g., length of the guide assembly 570 or starting position of the axial drive assembly 520) as dictated by intraoperative algorithms executed by the surgical computer 150.

In one embodiment, the CASS 100 can be configured to automatically implant a medical fastener 550 at a predetermined depth by selecting a medical fastener 550 of an appropriate length. Medical fasteners can be provided in a number of different sizes or lengths that correspond to different implantation depths when driven by the surgical tool 500. The length of a medical fastener 550 corresponds to the depth to which it is intended to be implanted because the implantation depth dictates the amount of the medical fastener 550 that is exposed from the guide assembly 570 as driven by the axial drive assembly 520. In other words, a shorter medical fastener can be implanted at a shallower depth because a smaller amount of the shorter medical fastener is available to be implanted within the bone relative to the longer medical fastener. Accordingly, the CASS 100 can be configured to recommend a medical fastener 550 of the appropriate length for the given surgical plan so that the medical fastener 550 is placed at the desired implantation depth. As described above, the surgical tool 500 is configured to automatically release the medical fastener 550 when the axial drive assembly 520 reaches its end position. Therefore, the surgical tool 500 as dictated by the CASS 100 can automatically release the medical fastener 550 at a predetermined depth by controlling the length of the medical fastener 550.

In another embodiment, the guide assembly 570 can be adjustable in length and the CASS 100 can be configured to automatically implant a medical fastener 550 at a predetermined depth by adjusting the guide assembly 570 to the appropriate length. Being able to adjust the length of the guide assembly 570 allows a user to control the implantation depth of a medical fastener 550 because the length of the guide assembly 570 dictates the degree to which the medical fastener 550 is exposed. In other words, if the guide assembly 570 is longer, less of the medical fastener 550 will be exposed when the medical fastener is fully extended by the axial drive assembly 520 from the guide assembly 570. Because the degree to which a medical fastener 550 can be exposed dictates the depth to which the medical fastener 550 can be implanted, controlling the length of the guide assembly 570 can thus control the implantation depth of the medical fastener 550.

In use, one could, for example, lengthen the guide assembly 570 when a shallow implantation depth was desired or shorten the guide assembly 570 when a deeper implantation depth was desired. In one such embodiment, the shaft 572 could, for example, include a telescoping structure that would thereby allow the length of the guide assembly 570 to be controlled by a user and/or a robotic surgical system. The length of the guide assembly 570 could be manually adjustable by a surgeon and/or an electromechanical control system of the surgical tool 500. Accordingly, the CASS 100 can be configured to recommend the appropriate length for the guide assembly 570 for the given surgical plan so that the medical fastener 550 is placed at the desired implantation depth. Alternatively, the CASS 100 can be configured to directly control the surgical tool 500 to adjust the length of the guide assembly 570. As described above, the surgical tool 500 is configured to automatically release the medical fastener 550 when the axial drive assembly 520 reaches its end position. Therefore, the surgical tool 500 as dictated by the CASS 100 can automatically release the medical fastener 550 at a predetermined depth by controlling the length of the guide assembly 570.

In another embodiment, the CASS 100 can be configured to automatically implant a medical fastener 550 at a predetermined depth by controlling the amount or degree to which the axial drive assembly 520 is translated. In this embodiment, the geometries of various components of the attachment assembly 502 and/or the corresponding components of the medical fastener 550 can be designed to dictate the amount of force required to remove a medical fastener 550 (or another device, such as a cutting element) from the attachment assembly 502. In particular, the geometries of the components can be designed to permit, given sufficient force, a medical fastener 550 to be withdrawn from the attachment assembly 502 before the axial drive assembly 520 has reached its end position (i.e., before the collet 504 is fully open). For example, the recess 552 of the medical fastener 550 can be constructed sufficiently shallow and/or the detent 510 can be constructed sufficiently small such that the nominal frictional force generated between the engagement between the detent 510 and the recess 552 can be overcome by a user and/or a robotic surgical system to disengage the medical fastener 550 and the surgical tool 500. Of course, the medical fastener 550 and the surgical tool 500 could also be disengaged from each other once the axial drive assembly 520 has reached its end position, as described above. Accordingly, the CASS 100 can be configured to cause the axial drive assembly 520 to translate only the amount required to place the medical fastener 550 at the desired implantation depth, as dictated by the given surgical plan. Alternatively, the CASS 100 can be configured to recommend a distance that the axial drive assembly 520 should be driven or recommend a corresponding activation time to cause the medical fastener 550 to reach the desired implantation depth. Once at the predetermined depth, the surgical tool 500 can then be withdrawn from the medical fastener 550 (either by the surgeon or a robotic surgical system), even if the axial drive assembly 520 has not yet reached its end position. Therefore, the surgical tool 500 as dictated by the CASS 100 can automatically release the medical fastener 550 at a predetermined depth by controlling the amount or degree to which the axial drive assembly 520 is translated.

In another embodiment, the CASS 100 can be configured to automatically implant a medical fastener 550 at a predetermined depth by controlling the position for the axial drive assembly 520 at which the medical fastener 550 begins being driven rotationally. As described above, the surgical tool 500 is configured to automatically release a medical fastener 550 coupled to its attachment assembly 502 upon the axial drive assembly 520 reaching its end position. Accordingly, controlling the position of the axial drive assembly 520 at which the medical fastener 550 begins being rotationally driven by the rotational drive assembly 530 allows one to control the amount that the medical fastener 550 is translated as it is being implanted, which in turn allows one to control the implantation depth of the medical fastener 550. Thus, the CASS 100 can be configured to set the starting position of the axial drive assembly 520 to a position that would cause the axial drive assembly 520 to reach its end position when the medical fastener 550 is installed at the desired implantation depth, as dictated by the given surgical plan. Alternatively, the CASS 100 can be configured to recommend the starting position of the axial drive assembly 520 that corresponds to the desired implantation depth for the given type of medical fastener 550, which can then be used by the surgeon to adjust the surgical tool 500 accordingly. As described above, the surgical tool 500 is configured to automatically release the medical fastener 550 when the axial drive assembly 520 reaches its end position. Therefore, the surgical tool 500 as dictated by the CASS 100 can automatically release the medical fastener 550 at a predetermined depth by controlling the starting position of the axial drive assembly 520.

In operation, a surgeon could use the surgical tool 500 to place a medical fastener 550 in a target bone and automatically disengage the medical fastener 550 from the surgical tool 500 when the medical fastener 550 has reached the predetermined implantation depth using the following steps. In some embodiments, the surgical computer 150 could determine the desired implantation depth of the medical fastener 550 for the given step of the surgical procedure or receive the desired implantation depth as input by the surgeon. In some embodiments, the surgeon could select a medical fastener 550 of the appropriate length, input various control parameter settings into the surgical tool 500, or take some other action as indicated by the surgical computer 150 to implant the medical fastener 550. In other embodiments, the surgical computer 150 can instead directly control the surgical tool 500 and/or other components of the CASS 100. The tracking system 115 can then track the movement of the surgical tool 500 as it is controlled by the surgeon. Next, the surgeon can position, using the tracking system 115, the surgical tool 500 to a pose relative to the bone as dictated by the surgical plan. In one embodiment, the display 125 can visualize the tracked pose of the surgical tool 500 and then indicate to the surgeon when the surgical tool 500 is at the desired pose. Next, the surgeon can activate the surgical tool 500 to cause the medical fastener 550 to begin being implanted within the target bone. Once the medical fastener 550 has reached the desired implantation depth, the surgical tool 500 can then disengage from the medical fastener 550 to cause the medical fastener 550 to be automatically implanted at the desired depth. As noted above, the CASS 100 can control this implantation depth by recommending an appropriately sized medical fastener 550, controlling the starting position of the axial drive assembly 520 in advance of driving the medical fastener 550, stopping the axial drive assembly 520 once it has translated a set amount, and so on.

The various embodiments of surgical tools 500 described herein can be constructed as either multi-use or single-use devices. In embodiments where the surgical tool 500 is a single-use device, the bearing surfaces of the surgical tool 500 can include a self-lubricating polymer that is expended after a single use, for example. The various embodiments of surgical tools 500 described herein can also be configured for use as handheld devices, in conjunction with a robotic surgical system (e.g., supported and/or driven by a robotic surgical arm), or both. Such a robotic surgical system can be incorporated into or controlled by a computer-based surgical system, such as the CASS 100 described above in FIGS. 1-7C.

Those of ordinary skill in the art will appreciate that the hardware components of the CASS 100 may vary depending on the implementation. Other internal hardware or peripheral devices, such as flash memory, equivalent non-volatile memory, or optical disk drives may be used in addition to or in place of the hardware described herein. Moreover, the surgical computer 150 and other data processing components of the CASS 100 can take the form of any of a number of different data processing systems, including but not limited to, client computing devices, server computing devices, tablet computers, laptop computers, telephone or other communication devices, personal digital assistants, and the like. Essentially, the surgical computer 150 and other data processing components of the CASS 100 can be any known or later developed data processing system without architectural limitation.

Dynamic Sealing Assembly

Many surgical tools, including the surgical tools 500 shown in FIGS. 8-12, are reprocessed and sterilized at the conclusion of a surgical procedure in which the tool is used. However, reprocessing and sterilization can cause significant damage to electromechanical components of the surgical tools 500 if they are not sealed properly. Therefore, it is desirable for the surgical tools 500 to incorporate a sealing mechanism that seals the electromechanical components from moisture. However, the high operational speed of the rotational drive assembly 530 presents a technical challenge to sealing the surgical tool 500. In particular, common rotary seal materials and configurations can produce a significant amount of friction with the drive shaft of the rotational drive assembly 530. It should also be noted that rotary seal materials for various different types of surgical tools are often unlubricated in order to avoid biocompatibility issues with the lubricants and compliance issues with users being forced to reapply lubricant to the tools for the tools to function as intended. The drive shaft friction generates excessive heat, which causes wear on the drive shaft at high speeds, and generates torque, which saps power from and generally negatively impacts the performance of the rotational drive assembly 530. Therefore, one must either limit the operational speed of the drive shaft, accept a shortened service life for and negatively impacted performance of the surgical tool 500, or substitute the rotary seal with a labyrinth-type seal (which has its own additional limitations). One solution to these problems is to utilize a sealing assembly that dynamically seals the surgical tool 500 based on whether the tool is in operation, such that the sealing assembly components are selectively engaged with the rotationally driven components only when the tool is not in use.

As described above, the surgical tool 500 can transition between a retracted configuration, as generally shown in FIGS. 9 and 11, and an extended configuration, when in use. Referring now to FIGS. 13 and 14, the surgical tool 500 can correspondingly be configured to transition between an unsealed state (FIG. 13) suitable for use (e.g., during a surgical procedure) and a sealed state (FIG. 14) for reprocessing and/or sterilization after use. The surgical tool 500 can be configured to transition between the sealed and unsealed states according, at least in part, to whether a cutting element (e.g., a burr) or a medical fastener 550 is engaged with the attachment assembly and/or whether the carriage assembly 524 is in a suitably distal position. When in the sealed state, a sealing assembly 580 can be configured to engage with various components of the surgical tool 500 (e.g., components of the carriage assembly 524 and/or attachment assembly 502) such that moisture is prevented from coming in contact with the electromechanical components of the surgical tool 500 during reprocessing and/or sterilization. When in the unsealed state, the sealing assembly 580 can be configured to disengage from the components of the rotational drive assembly 530 and/or other movable components of the surgical tool 500, thereby preventing friction from being generated between the associated surgical tool components and the sealing assembly 580 when the rotational drive assembly 530 is operational.

The sealing assembly 580 can, in various embodiments, include a number of different seals positioned at different locations within the surgical tool 500. In the illustrated embodiment, the sealing assembly 580 includes a first seal 582 positioned distally with respect to the surgical tool 500 and a second seal 584 positioned proximally. The first and/or second seals 582, 584 can be configured to selectively engage (i.e., seal) or disengage with the attachment assembly 502 and/or carriage assembly 524 components according to the position(s) thereof. Accordingly, the first and/or second seals 582, 584 can be configured to control the ingress of moisture into the surgical tool 500 at different points and/or protect different components of the surgical tool. In other embodiments, the sealing assembly 580 can include only one of the first or second seals 582, 584. The sealing assembly 580 can also include additional seals 586, which may or may not be configured to selectively engage or disengage with the surgical tool components according to the position(s) thereof. The seals 582, 584, 586 can include O-rings, for example.

In the illustrated embodiment, the surgical tool 500 is configured to transition between sealed and unsealed states at least in part due to whether the tool is engaged with a medical fastener or cutting element. When the surgical tool 500 is in its unsealed state (e.g., as shown in FIG. 13), the attachment assembly 502 and/or carriage assembly 524 are at least partially retracted or are otherwise not advanced to their distal most positions. Accordingly, a gap 587 is defined between the axial face 509 of the sleeve 506 and the first seal 582. In one embodiment, the attachment assembly 502 is configured such that the presence of a medical fastener 550 or a cutting element within the attachment assembly 502 pushes the sleeve 506 (and thus the axial face 509 of the sleeve 506) proximally with respect to the first seal 582, which forms the gap 587. Accordingly, the surgical tool 500 is transitioned to an unsealed state when a medical fastener 550 or a cutting element is engaged therewith. Because of the gap 587, the first seal 582 does not contact or otherwise frictionally engage with any surgical tool component that is rotationally driven by the rotational drive assembly 530 and, thus, no heat or torque is generated between the surgical tool components and the first seal 582 as the medical fastener 550 or cutting element is driven by the surgical tool 500. Correspondingly, removing the medical fastener 550 or cutting element from the attachment assembly 502 removes the proximal force on the sleeve 506, which in turn allows the sleeve 506 to advance distally (e.g., due to the spring 508 biasing the sleeve 506 distally), thereby bringing the axial face 509 into contact with the first seal 582 such that moisture ingress is prevented due to the engagement between the corresponding components. Accordingly, the surgical tool 500 can be configured to transition between a sealed state and an unsealed state according to whether a medical fastener 550 or a cutting element is engaged therewith.

In the illustrated embodiment the surgical tool 500 is configured to transition between sealed and unsealed states at least in part due to the position of the carriage assembly 524. When the surgical tool 500 is in operation, a gap 588 is defined between the second seal 584 and the carriage assembly 524 such that the second seal 584 does not contact or otherwise frictionally engage with any surgical tool component that is driven by the rotational drive assembly 530 and/or axial drive assembly 520. When the carriage assembly 524 is located at a distal position (e.g., as driven by the axial drive assembly 520), a portion 525 of the carriage assembly 524 having an increased diameter is brought into contact with the second seal 584 such that moisture ingress is prevented due to the engagement between the corresponding components. Accordingly, the surgical tool 500 is transitioned to a sealed state when the carriage assembly 524 is in an extended position. As described above, the axial drive assembly 520 can control the axial position of the carriage assembly 524, attachment assembly 502, and other surgical tool components. Accordingly, the surgical tool 500 can be configured to transition between an operational mode or configuration suitable for use during a surgical procedure, which avoids the generation of heat and/or torque by action of the sealing assembly 580, and a sealed mode or configuration suitable for reprocessing/sterilization by controlling the position of the carriage assembly 524. In one embodiment, the surgical tool 500 can be in its sealed state when the tool is both not engaged with a medical fastener 550 or a cutting element and the carriage assembly 524 is in its distal most position.

The surgical tool 500 can further include a locking assembly 590 that is configured to lock the surgical tool in the sealed state, for example. Such a locking assembly 590 can be beneficial in order to, for example, prevent the surgical tool 500 from becoming unsealed during reprocessing or sterilization. In the embodiment illustrated in FIG. 14, the locking assembly 590 can include a detent 592 (e.g., a detent ball) that is configured to selectively engage with a recess 594 on the carriage assembly 524 when the carriage assembly has been advanced axially to its distal or sealed position.

Automated Fastener Placement

In some embodiments, robotic surgical systems can be configured to use surgical instruments, such as the cutting tools shown in FIGS. 8-14 and described above, in an autonomous fashion to cut bone (e.g., drill holes) and/or place medical fasteners. Automating the one or more steps of the surgical process through such robotic surgical systems has several advantages, including ensuring that the surgical procedure is performed correctly (e.g., by having the robotic surgical system execute a checklist of instructions), ensuring that the surgery is performed in a consistent manner (by reducing the impact of natural human variability on the performance of the procedures), reducing the effort of human error or lack of skill, and applying skills (enabled by sensing, software, actuators, and AI) that are more advanced than those possessed by humans, and allowing surgeons to treat more patients during the course of their practice by freeing them from the need to performance mundane repetitive tasks (e.g., drilling holes, tightening screws, and molding or cutting bone). In some embodiments, these robotic surgical systems could be used to autonomously implant a variety of different types of endoprosthesis for a broad range of surgical applications. For example, these robotic surgical systems could be used to place plates and screws for long bone trauma, craniomaxillofacial repair, spinal repair, or dental repair. As another example, these robotic surgical systems could be used to implant arthroplasty reconstructive implants for a variety of different joints, including hips, knees, ankles, shoulders, or fingers. As yet another example, these robotic surgical systems could be used for spine alignment or related surgical procedures. One problem to be overcome in the implementation of these types of robotic surgical systems is how the medical fasteners are provided to and driven by the robotic arms. In particular, there are many different types of medical fasteners and medical fasteners are also relatively small components, therefore automated robotic surgical systems need to be able to overcome a host of problems, including identifying the correct medical fasteners to use in any given scenario (which could include distinguishing between different types of medical fasteners) and correctly implanting or manipulating the medical fasteners during the surgical procedure for the particular type of surgical procedure being performed.

In one embodiment, a robotic surgical system could be configured to use a surgical instrument including an medical fastener feeding mechanism, such as the surgical instrument 700 illustrated in FIGS. 15-19. In some embodiments, the surgical instrument 700 may be similar to or share some or all of the same features as the cutting tool 500 illustrated in FIGS. 9-14. The surgical instrument 700 can be configured to implant medical fasteners 550 (e.g., screws) into a bone or surgical hardware (e.g., bone plates). In one embodiment, the surgical instrument 700 can include a magazine well 704 that is configured to removably receive a magazine 706 for holding medical fasteners 550. In one embodiment, the magazine well 704 can be positioned at or near a distal end 702 of the surgical instrument 700. The magazine 706 can be configured to supply one or more medical fasteners 550 to the surgical instrument 700 such that the surgical instrument can drive the medical fastener into or through a bone or surgical hardware (e.g., a bone plate). As generally described above, the medical fasteners 550 implanted by the surgical instrument 700 can be used to directly secure bones or bone fragments together, secure surgical hardware such as bone plates to one or multiple bones or bone fragments, or serve as anchor points for other devices (e.g., tracking system markers or cutting guides). The magazine well 704 can be sized, shaped, or otherwise configured to removably receive the magazine 706 therein and secure the magazine in place (e.g., until removed by a user).

The surgical instrument 700 can further include one or more drive assemblies for axially and/or rotationally drive the medical fasteners 550. In some embodiments, the surgical instrument 700 could include at least one of the axial drive assembly 520 or the rotational drive assembly 530 described above (FIGS. 8-14). In the illustrated embodiment, the surgical instrument 700 includes a drive assembly 710 comprising a driver 712 that is configured to engage with the head of the medical fasteners 550 (as shown in FIG. 16) such that the drive assembly 710 can axially and rotationally drive the medical fasteners engaged therewith. The driver 712 could include a hex-shaped head, for example. In use, the surgical instrument 700 can implant a medical fastener 550 into a bone or surgical hardware. In some embodiments, the surgical instrument 700 could be configured to automatically disengage from the medical fastener 550 once it has been implanted to a desired depth, such as is described above in relation to the embodiments illustrated in FIGS. 8-14. Once the implanted medical fastener 550 has been rejected from the surgical instrument 700, the drive assembly 710 can withdraw axially (e.g., move in a proximal direction) to vacate a space within the barrel 708 of the surgical instrument to receive a new medical fastener. In one embodiment, the magazine 706 can include one or more biasing elements 720 that are configured to bias the medical fasteners 550 towards the barrel 708 so that a replacement medical fastener is loaded into the barrel after the loaded medical fastener has been ejected from the surgical instrument 700 (e.g., implanted into a bone). In the illustrated embodiment, the biasing elements 720 are springs, but the biasing elements can include other mechanisms in other embodiments. Once the replacement medical fastener 550 has been loaded into the barrel 708, the drive assembly 710 can engage with the medical fastener 550, thereby preparing the surgical instrument 700 to implant the newly loaded medical fastener.

Because the surgical instrument 700 is configured to automatically load medical fasteners 550 to be driven by the surgical instrument, a robotic surgical system including the surgical instrument can be loaded (e.g., by the surgical staff) with the correct type of medical fastener for the given surgical procedure or step of the surgical procedure that is being performed. Further, because the medical fasteners 550 are automatically loaded and reloaded for implantation, the robotic surgical system can quickly and efficiently implant multiple medical fasteners without the need for excess movement by the robotic arm or additional tracking and/or processing by the computer systems associated with the robotic surgical system.

In another embodiment, a robotic surgical system, such as the robotic surgical system 800 illustrated in FIGS. 20-27, could be configured to use a fastener caddy 810 that is adapted for use with the robotic surgical system. As generally described above, a robotic surgical system 800 can include a robotic arm 802 that is configured to hold and/or manipulate a surgical instrument 804 and a tracking system 806. In one embodiment, the surgical instrument 804 could be held by the end effector of the robotic arm 802. In another embodiment, the surgical instrument 804 could be integral to or be a component of the end effector of the robotic arm 802. As described in greater detail above, in one embodiment, the tracking system 806 can be configured to identify trackers 220 (which are also referred to as markers or fiducials) to determine the pose (i.e., position and orientation) of the robotic arm 802 (or components thereof) and the surgical instrument 804 within the operating theater. In another embodiment, the tracking system 806 could include an electromagnetic tracking system, as described above in connection with FIGS. 2-4. In some embodiments, the surgical instrument 804 may be similar to or share some or all of the same features as the cutting tool 500 illustrated in FIGS. 9-14. The surgical instrument 800 can be configured to cut (e.g., drill) bone or implant medical fasteners 550 (e.g., screws) into a bone or surgical hardware.

In the illustrated embodiment, the robotic surgical system further includes a fastener caddy 810 that includes one or more markers 220 that can be identified by the tracking system 806. The fastener caddy 810 can hold one or multiple types of medical fasteners 550 for use in connection with the surgical instrument 804. In one embodiment, the fastener caddy 810 can be configured to hold the medical fasteners 550 in an upright manner. For example, the fastener caddy 810 can be configured to hold the medical fasteners 550 so that the heads of the medical fasteners are exposed. By being exposed, the heads of the medical fasteners 550 are available to be engaged with a surgical instrument 804 without having to remove the medical fasteners from the fastener caddy 810 or otherwise further manipulate the medical fasteners. Accordingly, the robotic arm 802 can be controlled to intraoperatively engage the distal end of the surgical instrument 804 with the heads of the medical fasteners 550. Accordingly, the robotic surgical system 800 (or a computer system coupled thereto) can be programmed or otherwise configured to identify the markers 220 on the fastener caddy 810 and thereby register the pose of the fastener caddy 810. In various embodiments, the pose of the fastener caddy 810 can be registered relative to the robotic arm 802 or in a global reference frame, for example. It should be noted that the robotic arm 802 and/or surgical instrument 804 can include one or more markers 220 (e.g., arranged in a tracker array 805) that likewise allows for those components of the robotic surgical system 800 to be tracked. Because the pose of the fastener caddy 810 and the pose of the surgical instrument 804 can be tracked via the tracking system 806, the robotic arm 802 can interact with the fastener caddy to remove one or more medical fasteners 550 therefrom as needed during the surgical procedure, as shown in FIGS. 23 and 24. In particular, the robotic surgical system 800 can move the robotic arm 802 such that the distal tip of the surgical instrument 804 engages with a selected medical fastener 550 from the set of medical fasteners arranged by the fastener caddy 810. Thereafter, the robotic arm 802 can move away from the fastener caddy 810 with the medical fastener 550 engaged with the surgical instrument 804 and the surgical instrument can be activated to implant the medical fastener in or through a bone or surgical hardware.

The markers 220 on the fastener caddy 810 can vary in number and be arranged in a variety of different configurations. One illustrative configuration is shown in FIG. 24, which includes four markers 220 located at different positions on the face of the fastener caddy 810. However, this embodiment is simply for illustrative purposes, and the markers 220 can be arranged on the fastener caddy 810 in any manner that allows the tracking system 806 to identify the pose of the fastener caddy 810.

In one embodiment, the medical fasteners 550 can further include markers (e.g., fiducials) thereon that indicate the types of the medical fasteners. In another embodiment, the fastener caddy 810 could include markers adjacent to the medical fasteners 550 that indicate the types of the medical fasteners. In these embodiments, the robotic surgical system 800 can be configured to distinguish between the types of medical fasteners 550 within the fastener caddy 810 based on the associated markers. In still other embodiments, the robotic surgical system 800 can be programmed or otherwise configured to use image recognition techniques to distinguish between the types of medical fasteners 550 within the fastener caddy 810.

Any of the embodiments of robotic surgical systems and/or surgical instruments described above could be useful for both revision or non-revision surgical procedures. For example, FIGS. 25-27 illustrate the use of the robotic surgical system 800 in FIGS. 20-24 in a surgical procedure to repair a tibial fracture. In this implementation, the robotic surgical system 800 can position the robotic arm 802 to drill a pilot hole through a hole 822 in the tibial plate 820 using the surgical instrument 804, as shown in FIG. 26. In one embodiment, the surgical instrument 804 could include the surgical tool 500 shown in FIGS. 9-14. Once the pilot hole has been drilled, the robotic surgical system 800 can identify the type of medical fastener 550 appropriate for the given hole 822, position the robotic arm 802 to cause the surgical instrument 804 to engage with the selected type of medical fastener in the fastener caddy 810, and withdraw the selected medical fastener therefrom, as shown in FIG. 27. The robotic surgical system 800 can control the robotic arm 802 to position the surgical instrument 804 at the proper location and orientation to implant the selected medical fastener 550 through the hole 822 and control the surgical instrument to implant the medical fastener. The robotic surgical system 800 can repeat these steps to secure the tibial plate 820 to the opposing fragments of the tibia 824. The robotic surgical system 800 could also be implemented in a wide range of other surgical applications (e.g., spinal surgeries) or revision surgeries.

In various embodiments, the robotic surgical system 800 can be configured to work with a variety of different medical fasteners and bone plate assemblies. For example, the bone plates could have variable locking holes, conventional holes, and slots. For example, the medical fasteners could have threaded shafts and smooth heads, threaded shafts and threaded heads (where the threaded head is configured to engage with corresponding threading in the corresponding bone plate hole), and smooth shafts and threaded heads (i.e., locking pegs).

Fastener Torque Profiles

One common issue with bone plates that have threaded holes is that the threading of the fastener implanted through the hole can become cross-threaded with the threading of the hole. When this occurs, the fasteners become essentially cold welded to the plates. Robotic surgical systems could solve this issue in two ways. First, robotic surgical systems can reduce errors in the placement and orientation of the fasteners relative to human users. Second, robotic surgical systems can identify the torque profile of the fastener as it is being implanted through the plate and quickly detect potential cross-threading or other issues based upon a deviation in the measured torque profile of the fastener from a predetermined torque profile for the fastener. In conventional practice, surgeons rely upon tactile feedback from a screw as it is screwed into a plate in order to sense for any cross-threading and to determine when to stop turning the fastener. In particular, surgeons are often taught to stop screwing the fastener after a one-quarter turn from when they first begin to feel resistance. However, sensing cross-threading and knowing when to stop turning a fastener is nonetheless based on the surgeon's “feel” and is thus highly dependent upon the surgeon's skill and experience, which in turn means that there is a high degree of variability between surgeons. Robotic surgical systems could solve these issues by being configured to explicitly determine how far and with how much torque a fastener needs to be screwed through a plate in order to properly secure the fastener thereto.

In one embodiment, the robotic surgical system could include or be communicably coupled to a database that stores the precise amount that a fastener should be turned based upon the type of fastener, the type of patient, and the type of bone that the fastener is being screwed into. Accordingly, the robotic surgical system could retrieve the value defining how much the fastener should be screwed and control the surgical instrument accordingly. In another embodiment where the surgical instrument is used to drill a pilot hole for the fastener, the robotic surgical system could be configured to determine the depth of the drilled pilot hole and thus select the appropriate screw length for the pilot hole. In yet another embodiment, the fasteners could include an index that can be tracked by the robotic surgical system to know precisely how many times the fastener has been turned. The index could include, for example, a tracker identifiable by the tracking system, a rotary encoder, a Hall Effect sensor configured to sense one or more magnetic elements on the fastener, or a fiducial or other visually identifiable element for tracking the number of turns of the fastener as it is drilled into the bone. Accordingly, the robotic surgical system could be configured to control the surgical instrument to implant the fastener into the bone with the precise number of turns as dictated by the surgical conditions.

While various illustrative embodiments incorporating the principles of the present teachings have been disclosed, the present teachings are not limited to the disclosed embodiments. Instead, this application is intended to cover any variations, uses, or adaptations of the present teachings and use its general principles. Further, this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which these teachings pertain.

In the above detailed description, reference is made to the accompanying drawings, which form a part hereof. In the drawings, similar symbols typically identify similar components, unless context dictates otherwise. The illustrative embodiments described in the present disclosure are not meant to be limiting. Other embodiments may be used, and other changes may be made, without departing from the spirit or scope of the subject matter presented herein. It will be readily understood that various features of the present disclosure, as generally described herein, and illustrated in the Figures, can be arranged, substituted, combined, separated, and designed in a wide variety of different configurations, all of which are explicitly contemplated herein.

The present disclosure is not to be limited in terms of the particular embodiments described in this application, which are intended as illustrations of various features. Many modifications and variations can be made without departing from its spirit and scope, as will be apparent to those skilled in the art. Functionally equivalent methods and apparatuses within the scope of the disclosure, in addition to those enumerated herein, will be apparent to those skilled in the art from the foregoing descriptions. It is to be understood that this disclosure is not limited to particular methods, reagents, compounds, compositions or biological systems, which can, of course, vary. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting.

With respect to the use of substantially any plural and/or singular terms herein, those having skill in the art can translate from the plural to the singular and/or from the singular to the plural as is appropriate to the context and/or application. The various singular/plural permutations may be expressly set forth herein for sake of clarity.

It will be understood by those within the art that, in general, terms used herein are generally intended as “open” terms (for example, the term “including” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes but is not limited to,” et cetera). While various compositions, methods, and devices are described in terms of “comprising” various components or steps (interpreted as meaning “including, but not limited to”), the compositions, methods, and devices can also “consist essentially of or” “consist of” the various components and steps, and such terminology should be interpreted as defining essentially closed-member groups.

In addition, even if a specific number is explicitly recited, those skilled in the art will recognize that such recitation should be interpreted to mean at least the recited number (for example, the bare recitation of “two recitations,” without other modifiers, means at least two recitations, or two or more recitations). Furthermore, in those instances where a convention analogous to “at least one of A, B, and C, et cetera” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (for example, “a system having at least one of A, B, and C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, et cetera). In those instances where a convention analogous to “at least one of A, B, or C, et cetera” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (for example, “a system having at least one of A, B, or C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, et cetera). It will be further understood by those within the art that virtually any disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, sample embodiments, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase “A or B” will be understood to include the possibilities of “A” or “B” or “A and B.”

In addition, where features of the disclosure are described in terms of Markush groups, those skilled in the art will recognize that the disclosure is also thereby described in terms of any individual member or subgroup of members of the Markush group.

As will be understood by one skilled in the art, for any and all purposes, such as in terms of providing a written description, all ranges disclosed herein also encompass any and all possible subranges and combinations of subranges thereof. Any listed range can be easily recognized as sufficiently describing and enabling the same range being broken down into at least equal halves, thirds, quarters, fifths, tenths, et cetera. As a non-limiting example, each range discussed herein can be readily broken down into a lower third, middle third and upper third, et cetera. As will also be understood by one skilled in the art all language such as “up to,” “at least,” and the like include the number recited and refer to ranges that can be subsequently broken down into subranges as discussed above. Finally, as will be understood by one skilled in the art, a range includes each individual member. Thus, for example, a group having 1-3 cells refers to groups having 1, 2, or 3 cells. Similarly, a group having 1-5 cells refers to groups having 1, 2, 3, 4, or 5 cells, and so forth.

The term “about,” as used herein, refers to variations in a numerical quantity that can occur, for example, through measuring or handling procedures in the real world; through inadvertent error in these procedures; through differences in the manufacture, source, or purity of compositions or reagents; and the like. Typically, the term “about” as used herein means greater or lesser than the value or range of values stated by 1/10 of the stated values, e.g., ±10%. The term “about” also refers to variations that would be recognized by one skilled in the art as being equivalent so long as such variations do not encompass known values practiced by the prior art. Each value or range of values preceded by the term “about” is also intended to encompass the embodiment of the stated absolute value or range of values. Whether or not modified by the term “about,” quantitative values recited in the present disclosure include equivalents to the recited values, e.g., variations in the numerical quantity of such values that can occur, but would be recognized to be equivalents by a person skilled in the art.

Various of the above-disclosed and other features and functions, or alternatives thereof, may be combined into many other different systems or applications. Various presently unforeseen or unanticipated alternatives, modifications, variations or improvements therein may be subsequently made by those skilled in the art, each of which is also intended to be encompassed by the disclosed embodiments.

The functions and process steps herein may be performed automatically or wholly or partially in response to user command. An activity (including a step) performed automatically is performed in response to one or more executable instructions or device operation without user direct initiation of the activity. 

What is claimed is:
 1. A surgical tool comprising: an attachment assembly comprising: a collet configured to interchangeably receive a medical fastener or a bone removal tool therein, a sleeve slidable relative to the collet between a first configuration and a second configuration, the sleeve comprising a sleeve recess, a biasing member configured to bias the sleeve towards the first configuration, and a detent residing within the sleeve recess, wherein insertion of the medical fastener or the bone removal tool into the collet causes the detent to move into and at least partially occupy a corresponding recess of the medical fastener or the bone removal tool, wherein in the first configuration the sleeve bears against the detent, thereby causing the detent to maintain its position within the corresponding recess of the medical fastener or the bone removal tool and constraining axial movement of the medical fastener or the bone removal tool; a rotational actuator configured to rotationally drive the attachment assembly; a stop; and an axial actuator configured to axially drive the attachment assembly between a first position and a second position, wherein as the attachment assembly approaches the second position as driven by the axial actuator, the sleeve contacts the stop, thereby causing the sleeve to slide relative to the collet to the second configuration, thereby causing the detent to move radially into the sleeve recess and vacate the corresponding recess of the medical fastener, thereby releasing the medical fastener at a predetermined depth corresponding to the second position.
 2. The surgical tool of claim 1, wherein the detent comprises a ball bearing.
 3. The surgical tool of claim 1, further comprising: a barrel; and a magazine well that is configured to engage with a medical fastener magazine, the medical fastener magazine configured to reload one of a plurality of medical fasteners into the barrel upon the medical fastener being released from the surgical tool when the attachment assembly is in the second configuration.
 4. The surgical tool of claim 1, wherein the bone removal tool comprises a burr.
 5. The surgical tool of claim 1, wherein the axial actuator is selected from the group consisting of a motor, a hydraulic actuator, a screw-type actuator, a rack and pinion assembly, and a piezoelectric actuator.
 6. The surgical tool of claim 1, wherein the biasing member comprises a spring.
 7. The surgical tool of claim 1, wherein the medical fastener is selected from the group consisting of a pin, a Kirschner wire, and a Schanz screw.
 8. The surgical tool of claim 1, wherein the corresponding recess of the medical fastener comprises a groove extending about the medical fastener.
 9. The surgical tool of claim 1, wherein the sleeve recess comprises a groove extending about an interior surface of the sleeve.
 10. A surgical system comprising: a surgical navigation system; and a surgical tool comprising: a tracking array configured to be detected by the surgical navigation system, an attachment assembly comprising: a collet configured to interchangeably engage a medical fastener or a bone removal tool, a sleeve slidable relative to the collet between a first configuration and a second configuration, the sleeve comprising a sleeve recess, a biasing member configured to bias the sleeve towards the first configuration, and a detent residing within the sleeve recess, wherein insertion of the medical fastener or the bone removal tool into the collet causes the detent to move into and at least partially occupy a corresponding recess of the medical fastener or the bone removal tool, wherein in the first configuration the sleeve bears against the detent, thereby causing the detent to maintain its position within the corresponding recess of the medical fastener or the bone removal tool and constraining axial movement of the medical fastener or the bone removal tool, a rotational actuator configured to rotationally drive the attachment assembly; a stop; and an axial actuator configured to axially drive the attachment assembly between a first position and a second position, wherein as the attachment assembly approaches the second position as driven by the axial actuator, the sleeve contacts the stop, thereby causing the sleeve to slide relative to the collet to the second configuration, there causing the detent to move radially into the sleeve recess and vacate the corresponding recess of the medical fastener, thereby releasing the medical fastener at a predetermined depth corresponding to the second position.
 11. The surgical system of claim 10, wherein the detent comprises a ball bearing.
 12. The surgical system of claim 10, wherein the surgical tool further comprises: a barrel; and a magazine well that is configured to engage with a medical fastener magazine, the medical fastener magazine configured to reload one of a plurality of medical fasteners into the barrel upon the medical fastener being released from the surgical tool when the attachment assembly is in the second configuration.
 13. The surgical system of claim 10, wherein the bone removal tool comprises a burr.
 14. The surgical system of claim 10, wherein the axial actuator is selected from the group consisting of a motor, a hydraulic actuator, a screw-type actuator, a rack and pinion assembly, and a piezoelectric actuator.
 15. The surgical system of claim 10, further comprising: a medical fastener caddy comprising: a plurality of medical fasteners, and one or more trackers configured to be detected by the surgical navigation system.
 16. The surgical system of claim 15, further comprising: a robotic arm configured to manipulate the surgical tool, wherein the robotic arm is configured to be controlled to cause the surgical tool to be selectively engaged with one of the plurality of medical fasteners in the medical fastener caddy.
 17. The surgical system of claim 16, wherein the robotic arm comprises a passive robotic arm.
 18. The surgical system of claim 10, wherein the medical fastener is selected from the group consisting of a pin, a Kirschner wire, and a Schanz screw.
 19. The surgical system of claim 10, wherein the corresponding recess of the medical fastener comprises a groove extending about the medical fastener.
 20. The surgical system of claim 10, wherein the sleeve recess comprises a groove extending about an interior surface of the sleeve. 